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Globally robust tracking control of a quadrotor aerial vehicle for multi-behavior applicants
2019
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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
2012
Journal of Guidance Control and Dynamics
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The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
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
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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
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, 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
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, 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
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The file type is application/pdf.
, 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
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The file type is application/pdf.
, 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
2019
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics (CDSR'19)
unpublished
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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]
2018
arXiv
pre-print
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2018 pre-print arXiv:1811.05471v1 fatcat:s63iukgy5vbwve4k3fgspnrlvyOther Versions
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]
2013
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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
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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
2018
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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
2020
unpublished
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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