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Globally robust tracking control of a quadrotor aerial vehicle for multi-behavior applicants

Bara Jamal Emran
2019
To enable the full capacity of the quadrotor and perform agile maneuvers, a global attitude tracking control system is proposed.  ...  A fault-tolerant tracking controller featuring fault detection and robust control capable of coping with the total failure of one or two adjacent rotors is proposed.  ...  Now, the aim is to design a robust position controller based on an adaptive neural network for a 6 DOF quadrotor to follow a designed path in presence of system underactuation, parameter uncertainties,  ... 
doi:10.14288/1.0376047 fatcat:ic4ylzr3gncr5aiivb66mlqmjq

Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation

Girish Chowdhary, D. Michael Sobers, Chintasid Pravitra, Claus Christmann, Allen Wu, Hiroyuki Hashimoto, Chester Ong, Roshan Kalghatgi, Eric N. Johnson
2012 Journal of Guidance Control and Dynamics  
Quadrotors are also known to be notoriously hard to control even for human pilots, particularly because the relationship between thrust and stick deflection is nonlinear and the attitude is coupled heavily  ...  to form a six-degree-of-freedom inertial navigation solution.  ... 
doi:10.2514/1.55410 fatcat:2u74rqt2qjhozif7xgnfokeiiq

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
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.  ...  Since it is difficult to design a control function that can handle all the circumstances of operations at the start phase, the control function needs to be adapted online.  ...  A set of reliable linear models for control design of the pitch loop are obtained 12:40-13:00 FrB1.3 The Importance of Control in Wind Turbine Design and Loading (I), pp. 1269 2 An Application of the  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
, etc In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system.  ...  For this purpose, a pitch system is used. The speed remains almost constant at this operating range, and the torque introduced from the rotor side is limited by an adjustment of the rotor blades.  ... 
doi:10.1109/mra.2011.943480 fatcat:d2wvloyv6jcbzp2yathd52mx2u

IEEE Robotics & Automation Society

2012 IEEE robotics & automation magazine  
, etc In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system.  ...  For this purpose, a pitch system is used. The speed remains almost constant at this operating range, and the torque introduced from the rotor side is limited by an adjustment of the rotor blades.  ... 
doi:10.1109/mra.2012.2230568 fatcat:33actbknxrel3jnag2kx7cncem

IEEE Robotics & Automation Society

2011 IEEE robotics & automation magazine  
, etc In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system.  ...  For this purpose, a pitch system is used. The speed remains almost constant at this operating range, and the torque introduced from the rotor side is limited by an adjustment of the rotor blades.  ... 
doi:10.1109/mra.2011.941112 fatcat:owvu2behc5hulpcae2dp5myigm

[IEEE Robotics & Automation Society]

2012 IEEE robotics & automation magazine  
, etc In this paper, we present a six degree of freedom model of a quadrotor helicopter, onboard electronics, and a networked control system.  ...  For this purpose, a pitch system is used. The speed remains almost constant at this operating range, and the torque introduced from the rotor side is limited by an adjustment of the rotor blades.  ... 
doi:10.1109/mra.2012.2229854 fatcat:rjrxtwk4jbcgjpvjdad6mougsq

A Model-Free Control Algorithm Based On The Sliding Mode Control Method With Applications to Unmanned Aircraft Systems

Adarsh Sreeraj, Daniel Kaputa, Agamemnon Crassidis
2019 Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)   unpublished
Control methods require the use of a system model for the design and tuning of the controllers in meeting and/or exceeding the control system performance objectives.  ...  In particular, the sliding control method is a superior robust nonlinear control approach due to the direct handling of nonlinearities and uncertainties that can be used in tracking problems for unmanned  ...  [32] developed a 6 DOF state-space model for a quadrotor with 12 states.  ... 
doi:10.11159/cdsr19.113 fatcat:oq6dqmgn6fedbbn64rwgfwmhqe

Team NimbRo at MBZIRC 2017: Fast Landing on a Moving Target and Treasure Hunting with a Team of MAVs [article]

Marius Beul, Matthias Nieuwenhuisen, Jan Quenzel, Radu Alexandru Rosu, Jannis Horn, Dmytro Pavlichenko, Sebastian Houben, Sven Behnke
2018 arXiv   pre-print
Challenge 3 demanded a team of MAVs to perform a search and transportation task, coined "Treasure Hunt", which required mission planning and multi-robot coordination as well as adaptive control to account  ...  Challenge 1 required reliable target perception, fast trajectory planning, and stable control of an MAV in order to land on a moving vehicle.  ...  Acknowledgments We would like to thank all members of our team NimbRo for their support before and during the competition.  ... 
arXiv:1811.05471v2 fatcat:rnvwjx6yhzfmjerejau4ekcvee

Machine Learning for Intelligent Control: Application of Reinforcement Learning Techniques to the Development of Flight Control Systems for Miniature UAV Rotorcraft [article]

Edwin Laurie Hayes, University Of Canterbury
2013
This thesis investigates the possibility of using reinforcement learning (RL) techniques to create a flight controller for a quadrotor Micro Aerial Vehicle (MAV).  ...  The challenging and diverse applications in which MAVs are destined to be used, mean that considerable time and effort need to be put into designing and commissioning suitable flight controllers.  ...  Quadrotor UAV Simulator Encoding of Simulator State As with most other 3D robotics applications, a free-flying UAV operates in six degrees of freedom (DoF), three translational and three rotational.  ... 
doi:10.26021/2051 fatcat:4vhnjxidufbpvpeubd5gxpnug4

Table of contents

2019 2019 Chinese Control Conference (CCC)   unpublished
WANG Yuncheng, CHEN Chuxiang, ZHOU Zhenyu 7197 Optimization Design for Structure Parameters of Six Degree-Of-Freedom(DOF) Positioner of Secondary Mirror in A Space Optical Remote Sensor Based on ADAMS  ...  ZHAO Zhijia, LIU YiMing, LIAO Xiaoqing, MA Yonghao, HE Wei 1130 Exact Controllability for a Coupled System of N Euler-Bernoulli Plates with Variable Coefficients . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.23919/chicc.2019.8866607 fatcat:bkwxxogrqvcmfpmqiek3xgnuoe

Robotic Manipulation and Control for Mobile Autonomous Platforms: Design and Implementation

Mohammad Shaqura
2018
This thesis presents contributions to applied robotic control and manipulation in the areas of motion algorithm design, hardware, and software robotic system design.  ...  A nominal model of the actual system and the experimental system output are used to update the control input in every iteration for incremental improvement.  ...  ACKNOWLEDGEMENTS To my parents, my wife, my kids, and my friends. Thank you for your continuous support along the journey of my PhD.  ... 
doi:10.25781/kaust-16exu fatcat:sfk3o37ewzaqtaqbsizytojv3e

Regularized Predictive Control Framework for Robust Dynamic Legged Locomotion

Gerardo Bledt
2020 unpublished
This dissertation presents the successful implementation of a novel nonlinear optimization-based Regularized Predictive Control (RPC) framework that optimizes robot states, footstep locations, and ground  ...  Well-designed regularization should bias results towards a "good enough" heuristic solution by shaping the cost space favorably, while allowing the optimization to find a better result if it exists.  ...  Nonlinear Trajectory Optimization Nonlinear optimization-based controllers are powerful as they take advantage of more complex and coupled dynamics, which ultimately results in a better solution.  ... 
doi:10.13140/rg.2.2.24766.02883 fatcat:q7a5omangjecbdwgkndycphsuy