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Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties

Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto
2012 2012 IEEE International Conference on Robotics and Automation  
A high-fidelity attitude estimation technique for wide and irregular movements is proposed, in which heterogeneous inertial sensors are combined in complementary way.  ...  Particularly, the differential operator of a high-pass filter cancels the integral operator included in the dynamics compensation of the rate gyroscope, which causes instability.  ...  Complementary filter for attitude estimation following condition is satisfied, the filter designed based on Eq.(1) consistently estimates the original signal.  ... 
doi:10.1109/icra.2012.6224832 dblp:conf/icra/MasuyaSY12 fatcat:lgba2jlxrnaujjkwamvjhw5cru

A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear/Nonlinear Properties of Inertial Sensors
三次元高精度姿勢推定のための慣性センサの線形・非線形特性分離に基づいた相補フィルタ

Tomomichi Sugihara, Ken Masuya, Motoji Yamamoto
2013 Journal of the Robotics Society of Japan  
A high-fidelity attitude estimation technique is proposed for mobile robots which move irregularly in wide space, where heterogeneous inertial sensors are combined in a complementary way in the frequency  ...  While the working frequency ranges of each sensor are not necessarily complementary, inverse models of them compensate the sensor dynamics and enlarge their effective working ranges.  ...  A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear/Nonlinear Properties of Inertial Sensors Tomomichi Sugihara * 1 , Ken Masuya * 1 and Motoji Yamamoto * 2 A high-fidelity  ... 
doi:10.7210/jrsj.31.251 fatcat:e3zrhgsgozc47liswhv26bxhwu

Scratchbuilding Software Libraries to Support from Robot Motion Computation to Hardware Control
ロボットの運動計算・解析からハードウェア制御まで支える基盤ソフトウェアライブラリの自作

Tomomichi Sugihara
2012 Journal of the Robotics Society of Japan  
Yamamoto: "Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties," Proceedings of the 2012 IEEE International Conference on  ...  Sugihara: "Consistent Biped Step Control with COM-ZMP Oscillation Based on Successive Phase Estimation in Dynamics Morphing," Proceedings of the 2010 IEEE International Con- ference on Robotics & Automation  ... 
doi:10.7210/jrsj.30.860 fatcat:pao5zdxflfaflhtnpgoln7oeoe

Survey on Flight Control Technology for Large-Scale Helicopter

Jinshuo Hu, Hongbin Gu
2017 International Journal of Aerospace Engineering  
A literature review of flight control technology is presented for large-scale helicopter. Challenges of large-scale helicopter flight control system (FCS) design are illustrated.  ...  Then, the challenging research issues on flight control technology are identified, and future directions are highlighted.  ...  Competing Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
doi:10.1155/2017/5309403 fatcat:wxor43pam5hy3klrwwff7cl6tu

Embedded Model Control for UAV Quadrotor via Feedback Linearization

M.A. Lotufo, L. Colangelo, C. Perez-Montenegro, C. Novara, E. Canuto
2016 IFAC-PapersOnLine  
The attitude reconstruction problem is faced by means of a state observer developed on purpose and fully integrated with the model.  ...  Using a high-fidelity numerical simulator, the feasibility of the proposed control strategy was demonstrated.  ...  A high-fidelity simulator, based on Matlab/Simulink, has been also developed in order to test the control design safely before the experimental flight tests.  ... 
doi:10.1016/j.ifacol.2016.09.046 fatcat:b2cjqcizdna5tgbevn5ilwljba

Active control technology for large space structures

D. C. HYLAND, J. L. JUNKINS, R. W. LONGMAN
1993 Journal of Guidance Control and Dynamics  
., ‘‘On the Design of Optimal- Constrained Dynamic Compensators for Linear Constant Systems,’’ IEEE Transactions on Automatic Control, Vol. AC-15, Dec. 1970, pp. 658-660. 138Martin, G.  ...  The filter accommodation part of FAMESS is an attempt, via low pass filtering to prevent destabilization of the less well-known high-frequency modes, beyond the frequency band of the residual dynamics.  ... 
doi:10.2514/3.21087 fatcat:qsdosuvdffep7b2so2lz3p25zq

Design of Autoland Controller Functions with Multiobjective Optimization

Gertjan Looye, Hans-Dieter Joos
2006 Journal of Guidance Control and Dynamics  
The application of multi-objective optimization to the design of longitudinal automatic landing control laws for a civil aircraft is discussed.  ...  In this way, dynamic interactions between controller components are accounted for, and inner loops can be compromised such, that these can be used in combination with different outer loop functions.  ...  Acknowledgments The presented design is based on the autoland system developed within the project Robust and Efficient Autopilot control Laws design (REAL), sponsored by the Commission of the European  ... 
doi:10.2514/1.8797 fatcat:pdeb64d6ancsnijc6b4ijggheq

2021 International Conference on Unmanned Aircraft Systems - Final program

2021 2021 International Conference on Unmanned Aircraft Systems (ICUAS)  
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 2021 International Conference on  ...  I offer my best wishes for a successful and productive event, I look forward to seeing all of you, physically or virtually, in Athens, Greece, and I also look forward to continuing working with you.  ...  This paper presents the design of a robust observer-based control for a class of nonlinear multi-agent systems.  ... 
doi:10.1109/icuas51884.2021.9476682 fatcat:crdrcczqlbaebncnd76b47hfsu

Accurate Autonomous Landing of a Fixed-Wing Unmanned Aircraft under Crosswind Conditions

Andrew de Bruin, Thomas Jones
2016 IFAC-PapersOnLine  
This allows for the independent design of two innerloop controllers based on their individual decoupled dynamics.  ...  Instead of using a complementary filter pair and compensating for adverse pitching moments with "gearing", altitude and pitch angle were quasi-decoupled by using flaps for altitude control and elevator  ...  RADIO: Let the aircraft fly one full circuit and then activate the sudo landing flag. RADIO: Are you happy with the aircraft approach and airspeed? RADIO: Activating landing flag for crabbed landing.  ... 
doi:10.1016/j.ifacol.2016.09.030 fatcat:qdtxzefgmfgmpio72ustobbqhy

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.  ...  Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered.  ...  The second category is online SLAM, which estimates the current pose of the vehicle based on the last sensor data typically using filter based approaches.  ... 
arXiv:2110.02429v3 fatcat:y6k52u323bfsrh5qzphhywophq

Review of Designs and Flight Control Techniques of Hybrid and Convertible VTOL UAVs

Guillaume J.J. Ducard, Mike Allenspach
2021 Aerospace Science and Technology  
This paper provides a broad perspective and analysis of the work done in control of hybrid and convertible unmanned aerial vehicles (UAVs) for the main existing designs.  ...  These are namely: 1) augmenting or replacing classical controllers with data-driven methods such as neural networks and machine-learning-based controllers; 2) incorporating as much knowledge of the vehicle  ...  As a comparison platform, a high-fidelity simulator of the tiltrotor vehicle shown in Fig. 6 has been developed, based on the detailed vehicle model derived in [134] .  ... 
doi:10.1016/j.ast.2021.107035 fatcat:ylcgtndbwvhp5n3xvls3tk4fqa

Final Program

2020 2020 International Conference on Unmanned Aircraft Systems (ICUAS)  
I offer my best wishes for a successful and productive event, I look forward to seeing all of you in Athens, Greece, and I also look forward to continuing working with you. Kimon P.  ...  We are honored to have worked with them and we are truly indebted to everyone for their dedication and professionalism.  ...  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

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
The identification method is based on recurrent neural network nonlinear AutoRegressive with eXternal input (NNARX) model derived from dynamic feedforward neural network by adding feedback connection between  ...  Hamzaoui, Abdelaziz IUT of Troyes This paper deals with the design of a robust adaptive fuzzy tracking control for a class of uncertain and disturbed nonlinear systems.  ...  In contrast with most control schemes that use Euler angles or quaternions for the control of the attitude dynamics, this design use the elements of the rotation matrix.  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

FPGA based controller drive of BLDC motor using digital PWM technique

A. Tashakori, M. Hassanudeen, M. Ektesabi
2015 2015 IEEE 11th International Conference on Power Electronics and Drive Systems  
made to design Pseudo open drain IO standards Based Energy efficient solar charge sensor design on 20nm and 28nm technology.  ...  Simulation and Optimization of an Eddy Current Position Sensor Development of a Switch Mode Assisted Linear Amplifier for Use as a High Fidelity Voltage Source Shawn D. ielsen, Geoffrey R.  ...  related to the application of the adaptive Kalman filter to estimation of the states and parameters of an drive system with an elastic joint are presented.  ... 
doi:10.1109/peds.2015.7203584 fatcat:ffarubukq5gothj7a2mkcdyit4

Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Jun He, Feng Gao
2020 Chinese Journal of Mechanical Engineering  
This paper addresses key points that might yield breakthroughs for highly dynamic multilegged robots with the abilities of running (or jumping and hopping) and self-balancing.  ...  After that, the sensors and modeling methods used for perception are surveyed.  ...  The pose noise must be eliminated through robot pose compensation. The IMU sensor is usually mounted on the legged robot to estimate the legged robot's pose.  ... 
doi:10.1186/s10033-020-00485-9 fatcat:r4dv6nbymzgznbjd57de52wfga
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