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Lie-Group Type Quadcopter Control Design by Dynamics Replacement and the Virtual Attractive-Repulsive Potentials Theory

Simone Fiori, Luca Bigelli, Federico Polenta
2022 Mathematics  
The aim of the present research work is to design a control law for a quadcopter drone based on the Virtual Attractive-Repulsive Potentials (VARP) theory.  ...  The proposed strategy combines an instance of VARP method to control a drone's attitude (SO(3)-VARP) and an instance of VARP method to control a drone's spatial location (R3-VARP).  ...  2020 and for having invited the author S.F. as a visiting professor at the TUAT in February-March 2020.  ... 
doi:10.3390/math10071104 fatcat:h5zq3zre4ngmtmzzpjbrkljhaa

Design of Airport Obstacle-Free Zone Monitoring UAV System Based on Computer Vision

Liang Wang, JianLiang Ai, Li Zhang, Zhenlin Xing
2020 Sensors  
First, a quadcopter dynamic model and 2-Degrees of Freedom (2-DOF) Pan/Tilt/Zoom (PTZ) model are analyzed, and an attitude back-stepping controller based on disturbance compensation is designed.  ...  Based on the You Only Look Once (YOLO) and Kernel Correlation Filter (KCF) algorithms, an autonomous target recognition and high-speed tracking plan with great robustness and high reliability is designed  ...  Therefore, similar to the case with the quadcopter, the trajectory tracking controller is also designed with a double closed-loop control structure comprised of an attitude controller (inner loop) and  ... 
doi:10.3390/s20092475 pmid:32349321 pmcid:PMC7250039 fatcat:4xjxwurphvbcxnxoj47b43jlvi

Design and Fabrication of Advanced Aerial Robot Quadcopter

Tamilselvam Nallusamy, P. Abirami, S. Logasundari, P. Azhaguraja, P. Banumathi, B. Malarvizhi
2016 Zenodo  
The construction of a Quadcopter with a multi-rotor setup will be the most promising task for unmanned aerial vehicle designers.  ...  A Brushless motor of 1000 to 1500 rpm and propeller of 10×4.5 have been inbuilt with this Quadcopter for obtaining range up to 700 meters.  ...  The IMU is a combination of the 3-axis accelerometer and 3-axis gyroscope; together they represent a 6dof IMU.  ... 
doi:10.5281/zenodo.5114358 fatcat:bqtciw3pbbgctffwaawarnzcvi

Model Formulation Over Lie Groups and Numerical Methods to Simulate the Motion of Gyrostats and Quadrotors

Simone Fiori
2019 Mathematics  
The paper illustrates applications of the generalized Euler–Poincaré equations on the rotation groups to a gyrostat satellite and a quadcopter drone.  ...  The numerical solution of the dynamical equations on the rotation groups is tackled via a generalized forward Euler method and an explicit Runge–Kutta integration method tailored to Lie groups.  ...  Acknowledgments: I would like to gratefully thank Chris Hall of the University of New Mexico for sharing a figure source.  ... 
doi:10.3390/math7100935 fatcat:vwi3h3jb55dghim4lzvukurvfq

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Sherif I. Abdelmaksoud, Musa Mailah, Ayman M. Abdallah
2020 IEEE Access  
Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods  ...  , considering a number of assumptions and considerations.  ...  Alkamachi and Erçelebi [109] introduced an optimal H ∞ controller with FBL method to control an overactuated tilt-rotor quadcopter.  ... 
doi:10.1109/access.2020.3031326 fatcat:aae7qfcwvnfr3bwqalbaqggbs4

Additive Manufacturing of Porous Structures for Unmanned Aerial Vehicles Applications

Helge Klippstein, Hany Hassanin, Alejandro Diaz De Cerio Sanchez, Yahya Zweiri, Lakmal Seneviratne
2018 Advanced Engineering Materials  
It was found that samples built perpendicular to the load axis were the weakest with a tensile strength of 29 MPa and Young's modulus of 1960 MPa.  ...  In this paper, a novel design process of fused deposition modelling (FDM) combining both topology and infill optimization is introduced for AM of high performance porous structures.  ...  Figure 4 : 4 (a) Quadcopter Assembly, (b) Green: arm assembly, Blue: Tilting bracket, Pink: Arm cover cap, (c) Design space of the tilting bracket within arm assembly, (d) meshed design space of the tilting  ... 
doi:10.1002/adem.201800290 fatcat:s4i6ifc7mve5vdf5x3tijaz5w4

SDQIM: Software-Defined Quadcopter Interdomain Management Protocol With Decentralized Inductive Power Transfer (DIPT) Platform

Ammar K. Al Mhdawi, Hamed S. Al-Raweshidy
2019 IEEE Internet of Things Journal  
In essence, The DIPT platform is considered to be automated and low-cost approach that encompasses a custom-designed SDN controller for all inter-domain quadcopters.  ...  Formerly, we designed a novel software-defined quadcopter (SDQ) with mobile IoT vehicle [1] to measure the best efficient wind power location for effective future wind turbine placement.  ...  The rotors of the quadcopter can generate different motions and each motion is implemented with the x-axis and y-axis.  ... 
doi:10.1109/jiot.2018.2882897 fatcat:qwh4kifr5bhyfp3sg3t3fiw3hm

Risk-sensitive motion planning for MAVs based on mission-related fault-tolerant analysis

Nedim Osmic, Adnan Tahirovic, Ivan Petrovic
2020 Automatika  
Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used.  ...  In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis.  ...  Disclosure statement No potential conflict of interest was reported by the author(s). ORCID Nedim Osmic http://orcid.org/0000-0001-8132-4418 Adnan Tahirovic http://orcid.org/0000-0003-2049-8523  ... 
doi:10.1080/00051144.2020.1733324 fatcat:wtjcizj4fbawndxiiz7lv6qqjy

Design and development of an Aerial Surveillance Security System [article]

Simon Karanja Hinga
2021 arXiv   pre-print
Aerial security means performing security-aimed monitoring and surveillance operations with the help of airborne vehicles.  ...  on areas with rugged terrains or over water bodies for a time dependent on its power capacity.  ...  Overall Objective To design and construct a working model of a drone that will achieve total autonomous flight. Specific objectives 1.  ... 
arXiv:2104.00604v1 fatcat:wtmzr4zmebcftdrpe44jfhg3b4

Advantages of Fuzzy Control While Dealing with Complex/ Unknown Model Dynamics: A Quadcopter Example [chapter]

Luis Ibarra, Colin Webb
2016 New Applications of Artificial Intelligence  
It is simulated together to a nonlinear model of a quadcopter with added actuators variability, so the robust operation of the controller is also proven.  ...  In this work, a simple fuzzy controller is designed in a clear way, privileging design easiness and logical consistency of linguistic operators.  ...  In search of a simple and logical controller, its output is designed in terms of forward tilt, right tilt, and overall thrust instead of individual motor power.  ... 
doi:10.5772/62530 fatcat:iyel3slidvhd5gboythqrqp2re

Construction Prototyping, Flight Dynamics Modeling, and Aerodynamic Analysis of Hybrid VTOL Unmanned Aircraft

Roman Czyba, Marcin Lemanowicz, Zbigniew Gorol, Tomasz Kudala
2018 Journal of Advanced Transportation  
The paper discusses an iterative design process of the platform with emphasis on CAD design and aerodynamic analysis for particular flight modes.  ...  This paper presents the design process of an unmanned vertical take-off and landing aircraft including prototyping of the airframe construction and mathematical modeling as well as computational fluid  ...  In this paper, a novel design configuration in a form of hybrid of conventional aircraft and quadrotor, with two of four rotors mounted in nacelles with ability of rotation, has been proposed.  ... 
doi:10.1155/2018/7040531 fatcat:sekimwl6cnfobd6uyqa5rlwo2i

Low-Cost Bluetooth-Arduino Hover Control Design of a Quad Copter

Supantha Mandal, Suraj Kumar Saw, Karan Shaw, Arunava Kabiraj Thakur, Varsha Seth, Puja Singh
2016 IOSR Journal of Electronics and Communication Engineering  
in any terrain.The extremely sophistcated design provides very good hover contol of the design.The design integrated with ultrasonic sensors with in built accelerometer controls the speed and avoid collision  ...  with any obstacle detected in the flight of the quadcopter.The parts used in the design are of low cost making the design economical which makes it ideal for production on industrial scale which will  ...  QQ Superflight multi rotor controller The QQ Super multi-rotor flight controller has inbuilt 3 axis acceleration sensor and 3 axis gyroscope incorporated with stability function which provides a super  ... 
doi:10.9790/2834-1104048190 fatcat:kc3omiifancgfdp56iiy7mukje

Designing Mars Missions for the Utilization of Rotorcraft

Sophie R Gelhar
2020 Proceedings of the Wisconsin Space Conference  
This paper is meant to serve as a reference, resource, and starting point for the future exploration of Mars with rotorcraft.  ...  Previously, scientific exploration has been limited by the resolution of instruments on satellites and the terrain a rover can traverse.  ...  Adding extra motors increases available thrust, a very valuable quality Rear tilt axis Forward tilt axis Figure 20: Quadcopter Tiltrotor tilt axeson Mars, but decreases battery life and adds weight and  ... 
doi:10.17307/wsc.v1i1.302 fatcat:tdgyocoh7ngm3pucwc7qspx4hq

Wake Interactions Of A Tetrahedron Quadcopter

Jeremy Epps, Kevin Garanger, Eric Feron
2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
A tetrahedron quadcopter is a rotorcraft with four horizontal rotors, including an upper rotor and three lower rotors placed equidistant around the upper rotor on a lower plane.  ...  This paper studies the influence of the placement of a quadcopter's rotors with a tetrahedron shape on its produced thrust.  ...  The authors would like to thank the RISC lab at KAUST and more specifically Kuat Telegenov for providing advice, equipment, and access to their facilities.  ... 
doi:10.1109/icuas48674.2020.9214004 fatcat:yqiaa2n3vrh6lpbngql76hsabu

A robust control design approach for altitude control and trajectory tracking of a quadrotor

Z. A. Gulshan, M. Z. H. Ali, M. S. Shah, D. Nouman, M. Anwar, M. F. Ullah
2021 Electrical Engineering & Electromechanics  
Unmanned aerial vehicles as quadcopters, twin rotors, fixed-wing crafts, and helicopters are being used in many applications these days.  ...  A robust linear H∞ controller has been designed for both altitude control and circular trajectory tracking at the desired altitude. Problem.  ...  Though in helicopter, main rotor is able to tilt in order to execute forward motion [3] .  ... 
doi:10.20998/2074-272x.2021.5.03 fatcat:ewljiccybjcjnpybufkggz4syq
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