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Preliminary assessment of flying and handling qualities for mini-UAVs [chapter]

Elisa Capello, Giorgio Guglieri, Paolo Marguerettaz, Fulvia Quagliotti
2011 Recent Developments in Unmanned Aircraft Systems  
The flying and handling qualities are assessed implementing the selected platform in a full state flight simulator including a realistic autonomous navigation and control system.  ...  Different target paths are considered and a parametric study based on the minimization of the cross track error is presented.  ...  In this preliminary paper, the autonomous mode is analyzed, the interaction with the ground segment is not considered, and no considerations are made in terms of endurance and energy minimization.  ... 
doi:10.1007/978-94-007-3033-5_4 fatcat:ugateyayx5anfir7fcbuiezlbe

Preliminary assessment of flying and handling qualities for mini-UAVs

Elisa Capello, Giorgio Guglieri, Paolo Marguerettaz, Fulvia Quagliotti
2011 Journal of Intelligent and Robotic Systems  
The flying and handling qualities are assessed implementing the selected platform in a full state flight simulator including a realistic autonomous navigation and control system.  ...  Different target paths are considered and a parametric study based on the minimization of the cross track error is presented.  ...  In this preliminary paper, the autonomous mode is analyzed, the interaction with the ground segment is not considered, and no considerations are made in terms of endurance and energy minimization.  ... 
doi:10.1007/s10846-011-9565-5 fatcat:n45wp4h2trcgfmohfax5i3skhm

Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays

John M. Daly, Yan Ma, Steven L. Waslander
2014 Autonomous Robots  
The effects of time delays on closed loop stability are examined using a Retarded Functional Differential Equation formulation of the problem, and delay margins are determined for particular closed loop  ...  Local controllers to feedback linearize the models are presented, and a joint decentralized controller is developed to coordinate a rendezvous for the two vehicles.  ...  In order to determine the delay margin for the closed loop quadrotor-ground vehicle system, one must design the state feedback controller, and then numerically apply the results of Theorem 1.  ... 
doi:10.1007/s10514-014-9400-5 fatcat:lfsxld32djgclnvmijq5qx7ocy

Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays

John M. Daly, Yan Ma, Steven L. Waslander
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The effects of time delays on closed loop stability are examined using a Retarded Functional Differential Equation formulation of the problem, and delay margins are determined for particular closed loop  ...  Local controllers to feedback linearize the models are presented, and a joint decentralized controller is developed to coordinate a rendezvous for the two vehicles.  ...  In order to determine the delay margin for the closed loop quadrotor-ground vehicle system, one must design the state feedback controller, and then numerically apply the results of Theorem 1.  ... 
doi:10.1109/iros.2011.6048129 fatcat:2ywbk3pd6zfnlolzci2ncyvice

Coordinated landing of a quadrotor on a skid-steered ground vehicle in the presence of time delays

J. M. Daly, Yan Ma, S. L. Waslander
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The effects of time delays on closed loop stability are examined using a Retarded Functional Differential Equation formulation of the problem, and delay margins are determined for particular closed loop  ...  Local controllers to feedback linearize the models are presented, and a joint decentralized controller is developed to coordinate a rendezvous for the two vehicles.  ...  In order to determine the delay margin for the closed loop quadrotor-ground vehicle system, one must design the state feedback controller, and then numerically apply the results of Theorem 1.  ... 
doi:10.1109/iros.2011.6094488 dblp:conf/iros/DalyMW11 fatcat:x53zbqqplngl7na3lk5efpowgm

Quad Rotorcraft Switching Control: An Application for the Task of Path Following

2014 IEEE Transactions on Control Systems Technology  
Additionally, for dealing with both aforementioned cases, a switching control strategy for stabilizing the vehicle lateral position is proposed.  ...  A switching between the measurements of imaging and inertial sensors enables estimation of the required vehicle parameters in both operational regions.  ...  The methods proposed to estimate the vehicle states are described in Section III. The switching control strategy and a discussion of the system stability are presented in Section IV.  ... 
doi:10.1109/tcst.2013.2284790 fatcat:4j3wukc2uvdczp6l56qbbrab4q

On-Line Stability Margin and Attitude Estimation for Dynamic Articulating Mobile Robots

Antonio Diaz-Calderon, Alonzo Kelly
2005 The international journal of robotics research  
The problem of stability margin estimation is posed in the fairly general case of accelerated articulating motion over rough terrain.  ...  A methodology is presented to estimate proximity to tipover for autonomous field robots that must be productive, effective, and self-reliant under such challenging circumstances.  ...  Antonio Diaz-Calderon is currently employed by Jet Propulsion Laboratory (JPL), California Institute of Technology (Caltech) through a contract with the National Aeronautics and Space Administration.  ... 
doi:10.1177/0278364905057865 fatcat:skunaak6ovgkfjj5ai7y772x54

Design and control of an active anti-roll system for a fast rover

M. Krid, F. Benamar
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The control model is based on a dynamic model of the rover and on a stability criteria defined by the lateral load transfer.  ...  We propose the using of an active anti-roll system allowing the control of the roll angle and thus improving the vehicle stability, especially when turning or when moving on slopping ground.  ...  VEHICLE MODEL The goal of this part is to build a model for the control of the anti-roll device and to provide a measure for stability margin.  ... 
doi:10.1109/iros.2011.6048606 fatcat:rgqvuzkvsbgstardtlvsmylifu

A Trajectory Tracking Control Strategy of 4WIS/4WID Electric Vehicle with Adaptation of Driving Conditions

Hongyu Zheng, Shuo Yang
2019 Applied Sciences  
Simulation results show that it realizes the adaptive control of tire force while tracking the desired trajectory, improves the stability and energy saving of the vehicle, and effectively reduces tire  ...  In the path tracking layer, the nonlinear state feedback controller is used, and the neural network Proportion Integration Differentiation (NNPID) controller is designed to track the desired path and to  ...  An adaptive hierarchical trajectory following the control system is presented in Reference [24] to enhance the tracking performance and improve the lateral stability of autonomous 4WID electric vehicles  ... 
doi:10.3390/app9010168 fatcat:gp72c37y7vakfljng5crgoxd5i

Vision based MAV navigation in unknown and unstructured environments

Michael Blösch, Stephan Weiss, Davide Scaramuzza, Roland Siegwart
2010 2010 IEEE International Conference on Robotics and Automation  
Within the research on Micro Aerial Vehicles (MAVs), the field on flight control and autonomous mission execution is one of the most active.  ...  Based on this pose estimation a LQG/LTR based controller stabilizes the vehicle at a desired setpoint, making simple maneuvers possible like takeoff, hovering, setpoint following or landing.  ...  ACKNOWLEDGEMENTS The authors would like to thank Gabriel Nützi and Daniel Eberli for their critical and fruitful discussions and their very valuable contributions.  ... 
doi:10.1109/robot.2010.5509920 dblp:conf/icra/BloschWSS10 fatcat:74jjfzuda5f63kaguct6teshou

PID switching control for a highway estimation and tracking applied on a convertible mini-UAV

Gerardo Flores, L.R Garcia Carrillo, G. Sanahuja, R. Lozano
2012 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)  
This paper reports current work on development and navigation control of an experimental prototype of a new tilt-rotor convertible aircraft (Quad-plane Mini Unmanned Aerial Vehicle).  ...  The goal of the work consists of estimating and tracking a road using a vision system, without any previous knowledge of the road, as well as developing an efficient controller for treat with situations  ...  Once the vehicle is near to the end of the road segment, the landing is performed autonomously, and the vehicle descends slowly to the ground.  ... 
doi:10.1109/cdc.2012.6425834 dblp:conf/cdc/FloresCSL12 fatcat:dsi32653fjh3pcdemgr66bjix4

Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments

Stephan Weiss, Davide Scaramuzza, Roland Siegwart
2011 Journal of Field Robotics  
The novelty in the here-presented approach is to use a monocular simultaneous localization and mapping (SLAM) framework to stabilize the vehicle in six degrees of freedom.  ...  Autonomous micro aerial vehicles (MAVs) will soon play a major role in tasks such as search and rescue, environment monitoring, surveillance, and inspection.  ...  system for ground truth comparisons.  ... 
doi:10.1002/rob.20412 fatcat:7j4j47qzivaxxn5gchmbowdfbu

Decentralized control of large vehicular formations: stability margin and sensitivity to external disturbances [article]

He Hao, Prabir Barooah
2011 arXiv   pre-print
In the case of linear control, we provide quantitative scaling laws of the stability margin and sensitivity to external disturbances (H-infinity norm) with respect to the number of vehicles N in the formation  ...  We prove stability of the formation with arbitrary number of vehicles for linear as well as a class of nonlinear controllers.  ...  For the linear case, we also derive formulae showing the relationship between the stability margin and the smallest and largest eigenvalues of its grounded graph Laplacian.  ... 
arXiv:1108.1409v1 fatcat:dcet3lzsare7xfwa4ndo4gq4ke

Quad-rotor switching control: An application for the task of path following

L. R. G. Carrillo, G. Flores, G. Sanahuja, R. Lozano
2012 2012 American Control Conference (ACC)  
Also, for dealing with both aforementioned cases, a switching control strategy which stabilizes the vehicle's lateral position is proposed.  ...  The problem of vision-based road following using a quad-rotor is addressed. The objective consists of estimating and tracking a road without a priori knowledge of such path.  ...  INTRODUCTION This work is motivated by the theory of switching systems and the need of developing effective UAVs controllers and state estimators, not only for attitude and position stabilization, but  ... 
doi:10.1109/acc.2012.6315545 fatcat:2riwxwtyonbvtnmjj2iwzwet6e

Altitude Estimation and Control of an Insect-Scale Robot with an Onboard Proximity Sensor [chapter]

E. Farrell Helbling, Sawyer B. Fuller, Robert J. Wood
2017 Springer Proceedings in Advanced Robotics  
To achieve autonomous flight, the vehicle needs to sense its attitude, altitude, and either lateral position or velocity.  ...  This work on onboard altitude control represents the latest results in achieving autonomous control and visually-guided flight.  ...  In addition to stabilizing the attitude of the vehicle, the hovering controller from [6] requires estimates of rotation rate about the body axes, the absolute orientation of the vehicle, the lateral  ... 
doi:10.1007/978-3-319-51532-8_4 dblp:conf/isrr/HelblingFW15 fatcat:qwr6n7q5bbedfmdeb6ovtvwcu4
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