Filters








60 Hits in 8.2 sec

Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

Iván González-Hernández, Sergio Salazar, Rogelio Lozano, Oscar Ramírez-Ayala
2022 Drones  
This article addresses the development and experimental validation of a trajectory-tracking control for a miniature autonomous Quadrotor helicopter system (X4-prototype) using a robust algorithm control  ...  of our Quadrotor helicopter.  ...  Acknowledgments: We thank CONACYT of México for its support through project 316256. "Laboratorio Nacional en Vehiculos Autonomos y Exoesqueletos LANAVEX".  ... 
doi:10.3390/drones6020036 fatcat:2obpwoivfnbhfdzncpxnfqlmlq

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
2020 International Conference on Unmanned Aircraft Systems (ICUAS'20).  ...  Dear participants and attendees: On behalf of the ICUAS Association Inc., and in my capacity as the President of the Association, it is a privilege, a great pleasure and an honor to welcome you to the  ...  The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with eventtriggered mechanism using a dynamic-threshold.  ... 
doi:10.1109/icuas48674.2020.9214039 fatcat:7jr6chhfija47kgtwoxqmfmmoe

Disturbance Observer Based Control of Multirotor Helicopters Based on a Universal Model with Unstructured Uncertainties

Ye Xie, Yunfeng Cao, Biao Wang, Meng Ding
2015 Journal of Robotics  
To handle different perspectives of unstructured uncertainties, two robust control techniques on the basis of a universal model are studied in this paper.  ...  with DOB-based control strategy.  ...  Conflict of Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
doi:10.1155/2015/298743 fatcat:az3fzkh36bg35iywe6pcg2uixi

An Advanced Unmanned Aerial Vehicle (UAV) Approach via Learning-based Control for Overhead Power Line Monitoring: A Comprehensive Review

Husam A. Foudeh, Patrick Chi-Kwong Luk, James F. Whidborne
2021 IEEE Access  
There is currently much research into vision-based systems for UAVs.  ...  Moreover, Integration of technological solutions such as UAVs in the power system will have a profound impact on mitigating the impact of COVID-19.  ... 
doi:10.1109/access.2021.3110159 fatcat:r3bwct57jvgxxegzecskfsftrq

Modelling and control of a large quadrotor robot

P. Pounds, R. Mahony, P. Corke
2010 Control Engineering Practice  
The X-4 Flyer, a 4 kg quadrotor with a 1 kg payload, is intended to be prototypical of useful commercial quadrotors.  ...  Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance.  ...  Acknowledgements The authors would like to thank CSIRO ICT Robotics and Ryan Pope for their ongoing support of this project.  ... 
doi:10.1016/j.conengprac.2010.02.008 fatcat:tzl7tcjllneg5n5xdeavv46kga

Precision flight control for a multi-vehicle quadrotor helicopter testbed

Gabriel M. Hoffmann, Haomiao Huang, Steven L. Waslander, Claire J. Tomlin
2011 Control Engineering Practice  
Controllers are derived using these models and implemented on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), demonstrating significant improvements over existing methods  ...  This work presents theoretical models of quadrotor aerodynamics with non-zero free-stream velocities based on helicopter momentum and blade element theory, valianced with static tests and flight data.  ...  We would also like to thank Mark Woodward for the image processing program used for the USB camera system.  ... 
doi:10.1016/j.conengprac.2011.04.005 fatcat:oergddbklng7zl7s2c5m3suc2e

A Survey of Modelling and Identification of Quadrotor Robot

Xiaodong Zhang, Xiaoli Li, Kang Wang, Yanjun Lu
2014 Abstract and Applied Analysis  
This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.  ...  As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors.  ...  models based on empirical data typically obtained in the wind tunnel.  ... 
doi:10.1155/2014/320526 fatcat:zyhhsbznjzcqliqcoaet2zqaki

Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

José Fermi Guerrero-Castellanos, Sylvain Durand, German Ardul Munoz-Hernandez, Nicolas Marchand, Lorenzo L. González Romeo, Jesús Linares-Flores, Gerardo Mino-Aguilar, Wuiyevaldo F. Guerrero-Sánchez
2021 Applied Sciences  
This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach.  ...  Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively.  ...  Besides, the method can be extended to the automatic landing or trajectory tracking; for example, in [49, 50] , where the safe landing of a UAV under wind effects con-ditions is proposed.  ... 
doi:10.3390/app11135960 fatcat:izshuocunjfj5e3or4yruqpv2y

Research and Verification of Trajectory Tracking Control of a Quadrotor Carrying a Load

Yunsheng Fan, Hongrun Guo, Xinjie Han, Xinyu Chen
2022 Applied Sciences  
This paper assumes that considering the unknown and time-varying nature of different strong and weak wind field disturbances and considering the nonlinear, under-driven, strongly coupled quadrotor carrying  ...  , a load is disturbed by the complex and variable wind field and unmodeled parts when flying in the real external environment, which will reduce the control effect of the nonlinear controller and make  ...  In [12] , a nonlinear adaptive integral backstepping control method is proposed to reduce the impact of load swing on the flight, aiming at the problem that the stability of quadrotor carrying a load  ... 
doi:10.3390/app12031036 fatcat:isul7ivi5ngorelbkdulyl23iy

Design of an Electric Propulsion System for a Quadrotor Unmanned Aerial Vehicle

Michael J. Stepaniak, Frank Van Graas, Maarten Uijt De Haag
2009 Journal of Aircraft  
Initial research into quadrotor UAVs were spurred by the introduction of radio-controlled models intended for hobbyists.  ...  ,““RIC (Robust Internal-Loop Compensator) Based Flight Control of a Quad-Rotor Type UAV,” International Conference on Robots and Systems {CD-ROM}, Inst. of Electrical and Electronics Engineers, Piscataway  ... 
doi:10.2514/1.38409 fatcat:mwbtsjj2dvhohovcnzvncxmsui

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

Rini Akmeliawati, Safanah M. Raafat
2013 2013 9th Asian Control Conference (ASCC)  
for Multi-UAV in Dynamic Environment Jie Chen; Wenzhong Zha*; Zhihong Peng; Jian Zhang 439 Velocity Estimation and Control of 3-DOF Helicopter based on Optical Flow Lianhua Zhang*; Hao Liu;  ...  Energy Trajectory Planning Method for Robot Manipulator Mounted on Flexible Base Akira Abe* Passivity-Based Observer Design and Robust Output Feedback Control for Nonlinear Uncertain Systems Wei Liu  ... 
doi:10.1109/ascc.2013.6606363 dblp:conf/ascc/AkmeliawatiR13 fatcat:l7enyvdgurhpdl6yetwsst3u7y

Effects of Haptic and 3D Audio Feedback on Operator Performance and Workload for Quadrotor UAVs in Indoor Environments

Robert M. Philbrick, Mark B. Colton
2014 Journal of Robotics and Mechatronics  
Pilot workload was also improved for one of the haptic algorithms in one of the control directions (lateral).  ...  Two haptic feedback and two 3D audio feedback algorithms are presented and tested in a simulation-based human subject experiment.  ...  Time To Impact The Time to Impact (TTI) algorithm is based on work done by Balas [38] and Brandt [3] .  ... 
doi:10.20965/jrm.2014.p0580 fatcat:jb4urihjmnculakjivumzscuaq

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved [article]

Jack Saunders, Sajad Saeedi, Wenbin Li
2022 arXiv   pre-print
First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed.  ...  In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted.  ...  The authors utilise a disturbance observer based UAV control technique.  ... 
arXiv:2110.02429v2 fatcat:pi2di7z63zfhvolyeuxvdjfb3u

System Identification for Small, Low-Cost, Fixed-Wing Unmanned Aircraft

Andrei Dorobantu, Austin Murch, Bérénice Mettler, Gary Balas
2013 Journal of Aircraft  
Therefore, disturbances acting on the input, such as wind gusts or turbulence, dominate the disturbances acting directly on the output, such as sensor noise.  ...  Design of Flight Experiments Typical flight experiments for small UAV platforms under development are divided into three segments: takeoff, research experiments, and landing.  ... 
doi:10.2514/1.c032065 fatcat:4d6v3dw6zvgc3ekaur2luofanm

Design and construction of a novel quad tilt-wing UAV

E. Cetinsoy, S. Dikyar, C. Hancer, K.T. Oner, E. Sirimoglu, M. Unel, M.F. Aksit
2012 Mechatronics (Oxford)  
A hierarchical control system is designed where a high level controller (supervisor) is responsible for task decision, monitoring states of the vehicle, generating references for low level controllers,  ...  SUAVI is an electric powered quad tilt-wing UAV that is capable of vertical takeoff and landing (VTOL) like a helicopter and long duration horizontal flight like an airplane.  ...  Acknowledgement Authors would like to acknowledge the support provided by TUBITAK (Scientific and Technological Research Council of Turkey) under Grant 107M179.  ... 
doi:10.1016/j.mechatronics.2012.03.003 fatcat:klptj4nbkfaejhh6eo4xkxt2ly
« Previous Showing results 1 — 15 out of 60 results