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Von, Klemperer Nicholas. "Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft." Master's thesis, Faculty of Engineering and the Built Environment, 2018. http://hdl.handle.net/11427/30156.
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This dissertation aims to apply non-zero attitude and position setpoint tracking to a quadrotor aircraft, achieved by solving the problem of a quadrotor’s inherent underactuation. The introduction of extra actuation aims to mechanically accommodate for stable tracking of non-zero state trajectories. The requirement of the project is to design, model, simulate and control a novel quadrotor platform which can articulate all six degrees of rotational and translational freedom (6-DOF) by redirecting and vectoring each propeller’s individually produced thrust. Considering the extended articulation, the proposal is to add an additional two axes (degrees) of actuation to each propeller on a traditional quadrotor frame. Each lift propeller can be independently pitched or rolled relative to the body frame. Such an adaptation, to what is an otherwise well understood aircraft, produces an over-actuated control problem. Being first and foremost a control engineering project, the focus of this work is plant model identification and control solution of the proposed aircraft design. A higher-level setpoint tracking control loop designs a generalized plant input (net forces and torques) to act on the vehicle. An allocation rule then distributes that virtual input in solving for explicit actuator servo positions and rotational propeller speeds. The dissertation is structured as follows: First a schedule of relevant existing works is reviewed in Ch:1 following an introduction to the project. Thereafter the prototype’s design is detailed in Ch:2, however only the final outcome of the design stage is presented. Following that, kinematics associated with generalized rigid body motion are derived in Ch:3 and subsequently expanded to incorporate any aerodynamic and multibody nonlinearities which may arise as a result of the aircraft’s configuration (changes). Higher-level state tracking control design is applied in Ch:4 whilst lower-level control allocation rules are then proposed in Ch:5. Next, a comprehensive simulation is constructed in Ch:6, based on the plant dynamics derived in order to test and compare the proposed controller techniques. Finally a conclusion on the design(s) proposed and results achieved is presented in Ch:7. Throughout the research, physical tests and simulations are used to corroborate proposed models or theorems. It was decided to omit flight tests of the platform due to time constraints, those aspects of the project remain open to further investigation. The subsequent embedded systems design stemming from the proposed control plant is outlined in the latter of Ch:2, Sec:2.4. Such implementations are not investigated here but design proposals are suggested. The primary outcome of the investigation is ascertaining the practicality and feasibility of such a design, most importantly whether or not the complexity of the mechanical design is an acceptable compromise for the additional degrees of control actuation introduced. Control derivations and the prototype design presented here are by no means optimal nor the most exhaustive solutions, focus is placed on the whole system and not just a single aspect of it.
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Scotto, Di Clemente Salvatore. "Quadrotor control: implementation,cooperation and human-vehicleinteraction." Thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175379.
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In this thesis two cooperative control strategies are designed for a team of two indoorquadrotors and some human-vehicle interaction tasks are developed. First, theprocess of assembling a quadrotor from parts is undertaken. Then, a controller for asingle quadrotor is designed, and implemented using LabView software. Matlab softwareis used to generate the desired trajectories. A LabView software module actsas a supervisor, allowing the coordination between the two vehicles. Two types ofcooperative control are developed: position-based, and position/velocity-based. Bothcontrol strategies allow the quadrotors to follow a reference trajectory while maintaininga specified formation. Furthermore, some tasks are developed where one quadrotorresponds to online stimuli given by a human via a user-friendly interface.
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Sabatino, Francesco. "Quadrotor control: modeling, nonlinearcontrol design, and simulation." Thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175380.
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In this work, a mathematical model of a quadrotor’s dynamics is derived, usingNewton’s and Euler’s laws. A linearized version of the model is obtained, andtherefore a linear controller, the Linear Quadratic Regulator, is derived. Afterthat, two feedback linearization control schemes are designed. The first one isthe dynamic inversion with zero dynamics stabilization, based on Static FeedbackLinearization obtaining a partial linearization of the mathematical model.The second one is the exact linearization and non-interacting control via dynamicfeedback, based on Dynamic Feedback Linearization obtaining a total linearizationof the mathematical model. Moreover, these nonlinear control strategiesare compared with the Linear Quadratic Regulator in terms of performances.Finally, the behavior of the quadrotor under the proposed control strategies isobserved in virtual reality by using the Simulink 3D Animation toolbox.
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Kummer, Nikolai. "Translational visual servoing control of quadrotor helicopters." Thesis, University of British Columbia, 2013. http://hdl.handle.net/2429/45919.
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Vision based control enables accurate positioning relative to a stationary or moving target of quadrotor helicopters independent of on-board sensor accuracy. The use of vision for helicopter control opens indoor and GPS-denied environments as an area of operation, which currently poses challenges to these systems. This thesis presents a full vision-based quadrotor helicopter controller for tracking
a stationary or slow-moving target. The full controller used three control loops. The outer control loop converts an image feature error into UAV velocity commands. The quadrotor is a nonlinear system that has highly coupled position and attitude dynamics. The second loop performed a feedback linearization on these dynamics and translated the desired velocity into attitude commands. The inner loop was an on-board attitude and altitude controller, which was part of the ARDrone system and which was analyzed via frequency domain system identification for its dynamics. A linear quadratic Gaussian (LQG) controller, consisting of a Kalman filter for state estimation and a linear quadratic regulator was used to control the linearized system. The visual servoing control scheme was image based which convergences towards the desired configuration independent of on-board sensor accuracy and in the presence of camera calibration errors. The visual servoing features, used to control the translational degrees of freedom, sphere based on the virtual sphere approach, which uses two points in 3D space to create a virtual sphere. Control of the helicopter in the x and y direction was linked to the center location of the virtual sphere and distance to the target was controlled by the virtual sphere radius. The target features were two points, detected by colour and shape based detection methods. Adaboost.MRT, a boosting method for multivariate regression is proposed as part of this thesis. Adaboost.MRT is based on Adaboost.RT and extends the original to multivariate regression, improves boosting’s noise sensitivity, and improves the singularity in the misclassification function. A variance-scaled misclassification function is proposed and the threshold parameter is expanded to accommodate vector output. The proposed method is tested on eight datasets and displays a similar or better accuracy than the original Adaboost.RT or the base learning algorithm.
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Shekar, Sadahalli Arjun. "ADAPTIVE CONTROL DESIGN FOR QUADROTORS." OpenSIUC, 2017. https://opensiuc.lib.siu.edu/dissertations/1472.
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Unmanned Aerial Vehicles (UAV) control has become a very important point of scientific study. The control design challenges of a UAV make it one of the most researched areas in modern control applications. This thesis specifically chooses the Quadrotor as the UAV platform. Considering the quadrotor has 4 rotors and 6 degrees of freedom, it is an underactuated system and is dynamically unstable that has to be stabilized by a suitable control algorithm in order to operate autonomously. This thesis focuses on the quaternion representation of the quadrotor system dynamics and develops an adaptive control for its trajectory tracking problem. The control design uses the certainty equivalence principle where adaptive tracking controls are designed separately for each of the translational and rotational subsystems. With this approach, the success of the outer loop translational control relies on the fast convergence of the inner loop rotational control in order to guarantee the system’s stability while achieving the tracking objective. For the translational subsystem in the outer loop, a modified geometric control technique is considered with an adaptive component for the estimation of the uncertain mass of the quadrotor. For the rotational subsystem in the inner loop a backstepping based control design is adopted due to its systematic design and intuitive approach. An adaptive component is further integrated with it to estimate the integrated components of the uncertain Moment of Inertia matrix and other constant parameters in the system dynamics to guarantee the stability of the inner loop system while achieving the tracking objective. Furthermore, a complete backstepping control design methodology is presented which overcomes the issues of certainty equivalence principle where the inner loop needs to execute significantly faster than the outer loop to stabilize the system.
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Jones, Levi. "Coordination and Control for Multi-Quadrotor UAV Missions." Thesis, Monterey, California. Naval Postgraduate School, 2012. http://hdl.handle.net/10945/6816.
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This thesis is centered upon an optimal trajectory generation algorithm that allows real-time control for cooperation of multiple quadrotor vehicles for intelligence, surveillance, and reconnaissance missions with minimal user input. The algorithm is designed for an indoor environment where global positioning system data is unavailable or unreliable, forcing the vehicles to obtain position data using other sensors. This thesis specifies the lab setup and well as the control approach used. Data acquired from two experiments is included to demonstrate the effectiveness of the control approach. The control approach described within allows for a fully autonomous system with user input required only at the initiation of a mission. The algorithm blends trajectory planning, trajectory following, and multi-vehicle coordination to achieve the goal of autonomy. The focus of the thesis was on trajectory generation and multi-vehicle coordination, while leveraging existing trajectory following controller implementations. The trajectory generation is accomplished with a direct transcription of the optimization problem that leverages inverse dynamics and separates spatial and temporal planning. The vehicle motion is constrained, and simplifying multi-vehicle coordination assumptions allow for the efficient solution and execution of the problem.
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Marrazzo, Michael James. "Quadrotor control for persistent surveillance of dynamic environments." Thesis, Boston University, 2013. https://hdl.handle.net/2144/12158.
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Thesis (M.S.)--Boston UniversityThe last decade has witnessed many advances in the field of small scale unmanned aerial vehicles (UAVs). In particular, the quadrotor has attracted significant attention. Due to its ability to perform vertical takeoff and landing, and to operate in cluttered spaces, the quadrotor is utilized in numerous practical applications, such as reconnaissance and information gathering in unsafe or otherwise unreachable environments. This work considers the application of aerial surveillance over a city-like environment. The thesis presents a framework for automatic deployment of quadrotors to monitor and react to dynamically changing events. The framework has a hierarchical structure. At the top level, the UAVs perform complex behaviors that satisfy high- level mission specifications. At the bottom level, low-level controllers drive actuators on vehicles to perform the desired maneuvers. In parallel with the development of controllers, this work covers the implementation of the system into an experimental testbed. The testbed emulates a city using physical objects to represent static features and projectors to display dynamic events occurring on the ground as seen by an aerial vehicle. The experimental platform features a motion capture system that provides position data for UAVs and physical features of the environment, allowing for precise, closed-loop control of the vehicles. Experimental runs in the testbed are used to validate the effectiveness of the developed control strategies.
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Guerrero, Grijalva Juan Gabriel. "Control of a quadrotor using TS fuzzy techniques." reponame:Repositório Institucional da UFSC, 2017. https://repositorio.ufsc.br/xmlui/handle/123456789/180238.
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Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Engenharia de Automação e Sistemas, Florianópolis, 2017.Made available in DSpace on 2017-10-17T03:22:20Z (GMT). No. of bitstreams: 1 348500.pdf: 2459351 bytes, checksum: 355e193aa7abea4d18316e29357186bb (MD5) Previous issue date: 2017
Nos últimos anos as técnicas de controle fuzzy Takagi Sugeno (TS) têm sido utilizadas com sucesso para controlar sistemas não lineares mecatrônicos. Portanto, neste trabalho, são apresentadas algumas abordagens em tempo contínuo e discreto aplicadas em um sistema que representa um quadrotor. Teoremas baseados em desigualdades matriciais lineares que usam funções de Lyapunov são utilizados para estabilizar o sistema. Compensação distribuída paralela é a estrutura padrão de controle em malha fechada usada no presente documento. A modelagem fuzzy é baseada na utilização de regras locais não lineares que representam o sistema de um modo exato. Visando um processamento eficiente é apresentado uma modelagem fuzzy com poucas regras sem perder informação da dinâmica do sistema.Foram desenvolvidas muitas pesquisas para obter algoritmos de controle para quadrotores em tempo contínuo. Assim, neste trabalho é considerado o comportamento híbrido contínuo-discreto do sistema para desenvolver o algoritmo de controle que pode ser implementado em uma aplicação real. Os sensores têm a limitação fornecida pelo tempo de amostragem que é maior do que a largura de banda usada no processador, porém uma incorreta escolha do período de amostragem pode provocar processamento desnecessário ou instabilidade. O sistema pode demandar restrições na entrada de controle devido ás características dos atuadores, assim como nas saídas dos estados pitch, roll, yaw e altura do sistema do quadrotor. Algumas soluções para tratar essas limitações e restrições também são apresentadas para controladores nos quais os ganhos da sua lei de controle é calculada online e offline.As técnicas fuzzy TS com compensação distribuída paralela podem ser utilizadas com outras técnicas de controle como controle preditivo baseado no modelo ou alocação de polos. Por conseguinte também é apresentado uma comparação entre essas técnicas. Finalmente é mostrado um algoritmo genérico que pode ser embarcado em qualquer processador de fonte aberta assim como em simulações numéricas.
Abstract : Takagi Sugeno (TS) fuzzy techniques have been plenty used successfully in the last decades to control nonlinear mechatronic systems. Therefore, many approaches, in continuous and discrete time, are presented in this work applied in a quadrotor system. Linear matrix inequalities (LMIs) theorems based in Lyapunov functions are used to stabilize the system. Parallel distributed compensation (PDC) is the standard control structure employed through all this work. The fuzzy modeling is based in local nonlinear rules which represent accurately the system. Aiming an efficient processing, it is showed a modeling with a small number of rules without loosing information about the dynamic of the system. There have been developed many researches in continuous time algorithms for quadrotors. Thus, in this document is considered the hybrid behavior, continuous and discrete-time, of the closed loops system to develop an algorithm which actually could be used in a practical implementation. The sensors are limited by the sampling time (Ts) which is greater than the bandwidth of the processor; then an incorrect selection of the Ts could led in an unnecessary processing or instability. The system could demand constraints in the control input due to the features of the actuators as well as in the output states pitch, roll, yaw and altitude of the quadrotor system. Many ways to deal with these constraints and limitations are showed for controllers based in TS fuzzy model, in which its feedback is computed online or offline.TS fuzzy techniques with PDC are flexible to be used with other control techniques such as model predictive control and poles allocation approaches. Thus, a comparison of these techniques is presented too. Finally, a generic algorithm that could be embedded in any open source processor is presented with numerical simulations.
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Chamberlain, Caleb H. "System Identification, State Estimation, and Control of Unmanned Aerial Robots." BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2605.
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This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path planners described in this thesis are used to guide a fixed-wing UAV along paths that optimize the aircraft's ability to track a ground target. Existing path planners in the literature either ignore occlusions entirely, or they have limited capability to handle different types of paths. The planners described in this thesis are novel in that they specifically account for the effect of occlusions in urban environments, and they can produce a much richer set of paths than existing planners that account for occlusions. A 3D camera positioning system from Motion Analysis is also described in the context of state estimation, system identification, and control of small unmanned rotorcraft. Specifically, the camera positioning system is integrated inside a control architecture that allows a quadrotor helicopter to fly autonomously using truth data from the positioning system. This thesis describes the system architecture in addition to experiments in state estimation, control, and system identification. There are subtleties involved in using accelerometers for state estimation onboard flying rotorcraft that are often ignored even by researchers well-acquainted with the UAV field. In this thesis, accelerometer-rotorcraft behavior is described in detail. The consequences of ignoring accelerometer-rotorcraft behavior are evaluated, and an observer is presented that achieves better performance by specifically modeling actual accelerometer behavior. The observer is implemented in hardware and results are presented.
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Al, Younes Younes. "Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV." Thesis, Amiens, 2016. http://www.theses.fr/2016AMIE0028/document.
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Les principaux travaux développés dans cette thèse traitent de la commande, du diagnostic et de la tolérance aux fautes utilisant le concept de la commande sans modèle récemment proposé dans la littérature. Les méthodes développées sont testées en temps réel et validées sur un quadrotor. Dans un premier temps, le modèle du quadrotor est présenté et analysé dans l'objectif de concevoir et implanter une loi de commande robuste aux perturbations et aux incertitudes de modèle. Pour cela, le concept de commande sans modèle est utilisé. Ce concept est basé sur la détermination d'une loi de commande calculée à partir de modèles ultra-locaux ajoutée à la commande calculée par des régulateurs classiques. Une technique utilisant le régulateur linéaire quadratique ainsi que la technique non linéaire de backstepping avec intégrateur augmentées de ce concept de commande sans modèle ont été proposées. Ces deux approches ont été testées et validées en les appliquant en temps-réel au drone considéré. Une étude comparative des lois de commandes avec et sans l'utilisation du concept de commande sans modèle a été proposée mettant en évidence les avantages de l'utilisation de ce concept. Le diagnostic de défauts est une étape importante pour la commande tolérante aux fautes. Les techniques de diagnostic développées dans cette thèse sont basées sur la génération de résidus issus de la comparaison entre les mesures réelles et les estimations de ces mesures obtenues par des estimateurs. La génération de résidus dépend de la qualité du modèle utilisé ainsi que des perturbations qui peuvent conduire à des fausses alarmes ou des non détections. Une nouvelle technique "d’estimation intelligente" inspirée du concept de commande sans modèle a été proposée et implantée afin de rendre la génération de résidus insensible aux incertitudes de modèle et aux perturbations et ainsi améliorer la décision quant à la présence de défauts. Deux "estimateurs intelligents" ont été proposés en rajoutant à l'observateur d'état classique et l'observateur de Thau un concept inspiré de la technique de commande sans modèle. L'estimation des sorties du système obtenue par l'estimateur intelligent est utilisée afin d'estimer l'amplitude des défauts d'actionneurs et de capteurs. L'estimation des défauts d'actionneurs est basée sur des modèles ultra-locaux. Quant aux défauts de capteurs, un algorithme structure a été proposé pour estimer leur amplitude en utilisant les résidus générés à partir de cet estimateur. Les résultats de détection et estimation de défauts ainsi obtenus sont ensuite utilisés pour compenser l'effet des défauts sur les performances du drone. La commande tolérante aux fautes mise en œuvre permet de modifier la loi de commande par rapport à l'estimation de l'amplitude du défaut d'actionneur, alors que lorsqu'un défaut de capteur est détecté et estimé, la trajectoire de référence est régénérée afin de compenser l'effet du défaut et maintenir le drone sur la trajectoire initialement définie. Les algorithmes proposés ont été implantés et testés sur un quadrotor Qball-X4. Les résultats de vol en temps-réel ont été analysés et ont permis de valider les techniques de commande et de tolérance aux fautes de capteurs et d'actionneurs. Des vidéos illustrant différentes expérimentations sont disponibles en ligneThe main objectives of this thesis consist of developing Control, Fault Detection and Diagnosis (FDD) and Fault-Tolerant Control (FTC) techniques based on a the Model-Free (MF) concept recently introduced in the literature. The proposed approaches are implemented, tested and validated on a quadrotor platform. The first step of this work consisted of the modelling of the quadrotor, and then analyzing, designing and implementing new robust control strategies based on the Model-Free Control (MFC) technique recently developed in the literature. The MFC algorithm helps compensating for disturbances and model uncertainties. The advantage of this recent concept is in the simplicity of the design of the controller by adding a control law using ultra-local models to the classical control techniques. To test and validate this new approach, the Linear-Quadratic-Regulator (LQR) and the Nonlinear-Integral-Backstepping (NIB) controllers have been considered by integrating the MFC concept to design a (LQR-MFC) and a (NIB-MFC), respectively. Both algorithms are validated through analytical and experimental procedures and the robustness checked and compared with respect to the initial controllers in the presence of disturbances and model uncertainties.The FDD is a very important step towards the development of FTC techniques. The FDD approach developed in this thesis is based on the residual generation between the measured outputs and the estimated outputs obtained using observers/estimators. Residuals are expected to be close to zero in the fault free case and deviate from zero in the presence of a fault or failure. However, as the residuals are generated using models, they highly depend on the quality of the model used and on the presence of disturbances which may lead to false alarms or to non-detections. A novel “intelligent estimator” inspired from the MF concept has been developed and used in order to improve the residual generation and the fault diagnostic. Two intelligent estimators have been designed by integrating the MF scheme with the state and Thau observers for Multi-Input-Multi-Output (MIMO) systems, where the intelligent Output-Estimator (iOE) represents the integration between the MF technique with the state observer, and the intelligent Thau Output-Estimator (iTOE) represents the augmentation of the MF technique with the Thau Observer. The estimation of the system outputs obtained using the iOE are then used to estimate the actuator and sensor faults. The estimation of the actuator faults is improved by using the ultra-local models. A structured algorithm is then developed and implemented in order to estimate sensor fault magnitudes using the residuals generated by the intelligent estimator. The results obtained from the fault detection and estimation are then used to compensate for the fault effect on the flight control performance. The implemented fault-tolerant control technique compensates for the actuator faults by adjusting the control law based on the fault estimation. In case a sensor fault is detected and estimated, the desired path is regenerated according to the estimated fault magnitude in order to compensate for the fault effect.The proposed algorithms are implemented and tested on the Qball-X4 quadrotor. The results of the real-time flight tests validate the proposed techniques and compensate for sensor and actuator faults. Footages of the flight tests are available online
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Avram, Remus C. "Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs." Wright State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320.
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FNU, Vijaykumar Sureshkumar. "Autonomous Control of A Quadrotor UAV Using Fuzzy Logic." University of Cincinnati / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1428049378.
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Neff, Andrew. "Linear and non-linear control of a quadrotor UAV." Connect to this title online, 2007. http://etd.lib.clemson.edu/documents/1181251774/.
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Schmidt, Michael David. "SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE." UKnowledge, 2011. http://uknowledge.uky.edu/gradschool_theses/93.
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The ANGEL project (Aerial Network Guided Electronic Lookout) takes a systems engineering approach to the design, development, testing and implementation of a quadrotor unmanned aerial vehicle. Many current research endeavors into the field of quadrotors for use as unmanned vehicles do not utilize the broad systems approach to design and implementation. These other projects use pre-fabricated quadrotor platforms and a series of external sensors in a mock environment that is unfeasible for real world use. The ANGEL system was designed specifically for use in a combat theater where robustness and ease of control are paramount. A complete simulation model of the ANGEL system dynamics was developed and used to tune a custom controller in MATLAB and Simulink®. This controller was then implemented in hardware and paired with the necessary subsystems to complete the ANGEL platform. Preliminary tests show successful operation of the craft, although more development is required before it is deployed in field. A custom high-level controller for the craft was written with the intention that troops should be able to send commands to the platform without having a dedicated pilot. A second craft that exhibits detachable limbs for greatly enhanced transportation efficiency is also in development.
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Sjöholm, Daniel, and Martin Biel. "Automatic Control of a Quadrotor in the Smart Building." Thesis, KTH, Skolan för teknikvetenskap (SCI), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-153913.
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In this project, we investigate automatic control of a quadrotor UAV and discuss its possible applications in the Smart Building. The purpose is to construct a control algorithm for stable quadrotor flight and explore the use of UAV in a smart home. We derive the equations of motion for a quadrotor, construct a model and devise a control strategy to keep it stable in the air. The strategy will be to use cascaded controllers for position and attitude. Simulations are performed and the controllers are then tested in practice. In the simulations, we use lead lag controllers as they provide easy loop shaping and good performance. In the practical implementation, we instead chose to implement PID controllers, due to their wide use in industry, easy implementation and ease of tuning. The end result is a stable loop with acceptable performance in terms of positional control. A simple waypoint system is implemented as well, which is key for trajectory planning and enables the vehicle to perform various tasks.
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Landry, Benoit M. Eng Massachusetts Institute of Technology. "Planning and control for quadrotor flight through cluttered environments." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/100608.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2015.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 69-71).
Previous demonstrations of autonomous quadrotor flight have typically been limited to sparse environments due to the computational burden associated with planning for a large number of obstacles. We hypothesized that it would be possible to do efficient planning and robust execution in obstacle-dense environments using the novel Iterative Regional Inflation by Semidefinite programming algorithm (IRIS), mixed-integer semidefinite programs (MISDP), and model-based control approaches. Here, we present experimental validation of this hypothesis using a small quadrotor in a series of indoor environments including a cubic meter volume containing 20 interwoven strings. We chose one of the smallest hardware platforms available on the market (34g, 92mm rotor to rotor), allowing for these dense environments and explain how to overcome the many system identification, state estimation, and control problems that result from the small size of the platform and the complexity of the environments.
by Benoit Landry.
M. Eng.
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Schiano, Fabrizio. "Bearing-based localization and control for multiple quadrotor UAVs." Thesis, Rennes 1, 2018. http://www.theses.fr/2018REN1S009/document.
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Le but de cette thèse est d'étendre l'état de l'art par des contributions sur le comportement collectif d'un groupe de robots volants, à savoir des quadrirotors UAV. Afin de pouvoir sûrement naviguer dans un environnement, ces derniers peuvent se reposer uniquement sur leurs capacités à bord et non sur des systèmes centralisés (e.g., Vicon ou GPS). Nous réalisons cet objectif en offrant une possible solution aux problèmes de contrôle en formation et de localisation à partir de mesures à bord et via une communication locale. Nous abordons ces problèmes exploitant différents concepts provenant de la théorie des graphes algébriques et de la théorie de la rigidité. Cela nous permet de résoudre ces problèmes de façon décentralisée et de proposer des algorithmes décentralisés capables de prendre en compte également des limites sensorielles classiques. Les capacités embarquées que nous avons mentionnées plus tôt sont représentées par une caméra monoculaire et une centrale inertielle (IMU) auxquelles s'ajoute la capacité de chaque robot à communiquer (par RF) avec certains de ses voisins. Cela est dû au fait que l'IMU et la caméra représentent une possible configuration économique et légère pour la navigation et la localisation autonome d'un quadrirotor UAVThe aim of this Thesis is to give contributions to the state of the art on the collective behavior of a group of flying robots, specifically quadrotor UAVs, which can only rely on their onboard capabilities and not on a centralized system (e.g., Vicon or GPS) in order to safely navigate in the environment. We achieve this goal by giving a possible solution to the problems of formation control and localization from onboard sensing and local communication. We tackle these problems exploiting mainly concepts from algebraic graph theory and the so-called theory of rigidity. This allows us to solve these problems in a decentralized fashion, and propose decentralized algorithms able to also take into account some typical sensory limitations. The onboard capabilities we referred to above are represented by an onboard monocular camera and an inertial measurement unit (IMU) in addition to the capability of each robot to communicate (through RF) with some of its neighbors. This is due to the fact that an IMU and a camera represent a possible minimal, lightweight and inexpensive configuration for the autonomous localization and navigation of a quadrotor UAV
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Costa, Joana D'arc Dias. "Backstepping controller for attitude control of a quadrotor UAV." Instituto Tecnológico de Aeronáutica, 2015. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3313.
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Multirotors Unmanned Aerial Vehicles (UAV), specially quadrotors, have been attracting large interest from the academy and the industry due to factors such as simplified mechanics, low cost, high maneuverability, vertical take-off and landing (VTOL) and wide variety of applications (fire fighting, surveillance, filming etc.). This work deals with the attitude control problem for a quadrotor UAV. In order to solve the problem, a backstepping attitude controller that guarantees the asymptotic stability of the system was designed using quaternion as attitude parametrization. The result was a control law similar to a P-D law with an additional nonlinear term in order to compensate the nonlinear term from the attitude dynamics. Simulations were made to validate the attitude control law achieved as well as experiments with an equipment similar to a quadrotor, but mounted on a three degree of freedom pivot joint that enables only the rotational motion, the Quanser 3D Hover. Additionally, the system was simulated with 6 degrees of freedom (3 translational and 3 rotational) and a P-D controller with constraints on the total thrust and on the inclination angle was used for the position control and to provide the desired attitude for the attitude controller. Propeller dynamics and perturbations acting on the quadrotor were modelled to obtain a more realistic result. Several Monte Carlo simulations were made to assess the mean effect of these random perturbations, and the results were effective for a way point trajectory.
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Milburn, Tyler. "Analysis of Advanced Control Methods for Quadrotor Trajectory Tracking." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1532078119456277.
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Raza, Syed Ali. "Design and control of a quadrotor unmanned aerial vehicle." Thesis, University of Ottawa (Canada), 2010. http://hdl.handle.net/10393/28373.
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This research work is focused on the different steps of designing, building, simulating, and testing an intelligent flight control module for an increasingly popular unmanned aerial robot vehicle (UAV), known as a quadrotor. Also an in-depth view of the modeling of the kinematics, dynamics, and control of such an interesting UAV is presented. Eventually, a quadrotor UAV test-bed is built from scratch using custom off-the-shelf components.
In order to achieve autonomous flight, fuzzy logic is adopted for building the flight controller of the quadrotor. It has been witnessed that fuzzy logic control may offer several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and modeling uncertainties. Some of these advantages are explained and compared with other conventional control techniques. Two types of fuzzy inference engines are employed in the design of the flight controller each method of which is explained and evaluated.
A helium balloon of calculated size is added to the frame of the quadrotor so that the lifting gas cancels some of the dead weight. A feasible ratio of buoyancy force and weight is found to maintain the stability of the quadrotor. A feasible size and pitch of propellers is also explored to minimize the power usage as well as providing sufficient thrust for desired maneuverability.
A bank of supercapacitors is also added to the existing power supply design. The idea is to exploit the advantages of super capacitors such as fast-charging and discharging and high power density. The proposed design of power supply provides longer operational time when compared to the conventional battery based circuits. Also the design is cost effective and improves the battery life by preventing deep discharges from the lithium-polymer battery power source.
The experimental results demonstrated a successful control performance under both inference engines. When compared to other conventional techniques applied for a similar purpose, the proposed methodology showed a higher robustness despite the induced disturbances. Also a slight improvement was observed in the overall flight-time of the quadrotor after applying the hybrid UAV design as well as the hybrid power supply unit (PSU) module to the quadrotor.
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Klingstein, Axel. "Multi-Agent Testbed development, modelling and control of Quadrotor UAVs." Thesis, KTH, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-102159.
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Quadrotor Unmanned Aerial Vehicles (UAVs) have been an area of great interest for academic research at several universities around the world. They provide an interesting platform for research into various control related areas such as modelling, testing dierent control strategies or cooperative behaviour and possible real-world applications within search-and-rescue, trac surveillance and many other areas with the potential to improve everyday life. In this thesis, the process of designing and implementing a testbed that allows for practical multi-agent control related experiments with Quadrotor UAVs is described. The testbed consists of a centralized controller PC, a positioning system for determining the quadrotors position in space and a bi-directional wireless link for communicating with the quadrotors. The controller PC software in LabVIEW and the various interfaces to the subsystems in C, C # and under TinyOS are implemented considering the main goal to have a robust platform that allows for quick testing and debugging of dierent control algorithms. To be able to perform simulation and understand the dynamic behaviour of the quadrotors, a mathematical model is derived. The model is then used to design PID and LQR controllers that allow the quadrotors to track a position in space. The functionality of the testbed, the performance of the controllers and the validity of the model is successfully evaluated by ight-testing the quadrotors using the testbed and verifying that simulation results are in accordance with the real-world results that are obtained.
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Bhargava, Abhishek. "Development of a quadrotor testbed for control and sensor development." Connect to this title online, 2008. http://etd.lib.clemson.edu/documents/1239896532/.
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Cutler, Mark Johnson. "Design and control of an autonomous variable-pitch quadrotor helicopter." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/77106.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012.Cataloged from department-submitted PDF version of thesis. This electronic version was submitted and approved by the author's academic department as part of an electronic thesis pilot project. The certified thesis is available in the Institute Archives and Special Collections.
Includes bibliographical references (p. 101-106).
The aerospace community, particularly in academia, has seen a recent rise in the popularity of fixed-pitch quadrotor helicopters. The fixed-pitch quadrotor is popular largely because of its mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the types of maneuvers possible to fly. This thesis explores the extent to which the addition of variable-pitch propellers to a quadrotor helicopter overcomes these limitations. A detailed analysis of the potential benefits of variable-pitch propellers over fixed-pitch propellers for a quadrotor is presented. This analysis is supported with experimental testing to show that variable-pitch propellers, in addition to allowing for efficient generation of negative thrust, substantially increase the maximum rate of thrust change. A nonlinear, quaternion-based control algorithm is presented for controlling the quadrotor. An accompanying trajectory generation method is detailed with an optimization routine for finding minimum-time paths through waypoints. The control law and trajectory generation algorithms are implemented in simulation and on a custom variable-pitch quadrotor. The quadrotor attitude control is performed on the vehicle using a custom autopilot. Position and attitude measurements are made with an off-board motion capture system. Several flight tests are shown with a particular emphasis on the benefits of a variable-pitch qaudrotor over a standard fixed-pitch quadrotor for performing aggressive and aerobatics maneuvers. To the best of the author's knowledge, this work marks the first documented, autonomous variable-pitch quadrotor built for agile and aggressive flight.
by Mark Johnson Cutler.
S.M.
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Imam, Abubakar Surajo. "Control and navigation of a quadrotor subject to wind disturbance." Thesis, University of Newcastle upon Tyne, 2014. http://hdl.handle.net/10443/2547.
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Recently, the use of small-scale rotorcraft unmanned aerial vehicles (UAVs) for surveillance and monitoring tasks is becoming attractive. Their usage can be extended for monitoring of oil and gas pipelines. Amongst the various configurations of small-scale rotorcraft UAVs, the use of a quadrotor gained more prominence, particularly in the academic research community. A quadrotor is a small responsive four-rotor vehicle controlled by the rotational speed of its rotors. It is compact in design with the ability to carry a high payload. Achieving a successful outdoor surveillance/monitoring task with a quadrotor requires a robust and disturbance-rejection flight controller. However, to design a robust disturbancerejection flight control system for a quadrotor, the understanding of its aerodynamic permanence is essential. The fact that thrust is the key variable which influences the overall performance of rotary-wing air-vehicles, whilst wind velocity variation affects thrust utilization, their overall impact on a quadrotor manifests a rise or a fall in the rotors thrust which results in a non-uniform rotors’ thrust, and subsequent drop in altitude. This thesis addresses the effect of wind velocity variation in the design of a quadrotor autonomous flight control system. The following represents the main achievements recorded in this study: extensive review of the relevant literature related to UAVs with emphasis on rotorcraft, a quadrotor system was designed and developed in-house, followed by its aerodynamic analysis using the computational fluid dynamics (CFD) modeling technique, where ANSYS FLUENT and a virtual blade model (VBM) were employed to analyse the wind velocity variation effects on the quadrotor. A frequency-domain system identification technique was used to extract the quadrotor parameterized model using the comprehensive identification from frequency responses (CIFER) software package. Matlab/Simulink tools and Arduino-Simulink blockset were utilized in the design of the quadrotor’s altitude and attitude regulating controllers, based on the classical PID and model predictive control (MPC) schemes. Two algorithms were also developed, one for the vehicle’s navigation control and the other a graphical user interface (GUI) which facilitates semi-autonomous/autonomous control of the quadrotor. A series of actual flight tests were conducted to evaluate the performance and effectiveness of the quadrotor system. The tests involved careful selection of specific missions, based on which corresponding flight trajectories for the flight scheduling layer in the flight control structure were defined and the actual flight tests conducted. The flight scheduling involves ii the generation of appropriate flight trajectories for certain defined manoeuvres to evaluate the robustness and handling quality of the overall flight control system within the vehicle’s operational envelope. The defined manoeuvres include ascend-hover-descend, forward flight, hover turn and circular-zigzag flight. Each flight manoeuvre was defined in terms of clear objectives, full description and performance requirement, which was categorized into two qualitative levels, namely desired level (satisfactory) and adequate level (barely acceptable). Prior to conducting the extensive flight tests, the responses of the vehicle to specific directional control commands was examined using a frequency sweep excitation signal. The results of these tests were considered more than acceptable. This study lays a foundation for related researches, particularly in the development of small-scale rotorcraft flight control systems from an aerodynamic point of view.
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Michel, Nathan. "Invariant set design for the constrained control of a quadrotor." Electronic Thesis or Diss., université Paris-Saclay, 2020. http://www.theses.fr/2020UPASG012.
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Les quadrotors sont des plateformes versatiles, capable de manoeuvres agiles et de survol stables. Leur utilisation pour des applications civiles et industrielles a considérablement augmenté ces dernières années, et on estime que cette tendance ne devrait pas s’arrêter. La conception de quadrotors qui soient autonomes nécessite de prendre en compte des contraintes en termes de sûreté et d’embarquabilité, telles que l’évitement d’obstacles, la présence de saturation au niveau des actuateurs, ou encore les limitations en termes de temps de calcul disponible. Nous nous intéressons à la partie commande de l’automatisation d’un quadrotor dans une problématique de vol dans un milieu encombré et en présence de perturbations aérodynamiques. Ces perturbations, et les erreurs de modèles, peuvent nuire au succès de la mission de vol, et doivent donc être prises en compte dans l’élaboration de trajectoires « sûres ». Une manière d’évaluer l’impact des perturbations sur un système bouclé consiste à calculer des ensembles invariants. Notre but est de synthétiser une loi de commande qui permette de générer des trajectoires en boucle fermées qui respectent les différentes contraintes en les bornant à l’intérieur de zone de vol sûres, en bornant les trajectoires dans des ensembles invariants. En particulier, nous étudions la synthèse de lois de commandes menant à des ensembles invariants qui soient les plus petits possibleUnmanned Aerial Vehicles (UAVs) quadrotors are versatile platforms capable of agile motion and stable hovering. The use of drones in civil application and industry has considerably increased in the last years, and is foreseen to continue growing. The design of autonomous UAVs should take into account safety and technological constraints, such as distance to obstacles, actuator limitations or real-time computational constraints for embedded implementation. Here we focus on quadrotor control for applications in a cluttered environment, where we want to account for the presence of external disturbances. External disturbances and modelling mismatches can affect the execution of a mission and its impact on the closed-loop trajectories must be assessed. A systematic way to assess the influence of disturbances is to compute invariant sets. The goal is to compute control laws that generate collision-free trajectories by bounding them within safe flight regions, characterized set-wise by invariant sets, where all constraints satisfaction is guaranteed. In particular, we study the design of control laws leading to invariant sets that are as small as possible
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Rudner, Mikael, and Niklas Hansson. "Slung Load Control and User Interfaces for a Quadrotor Micro Air Vehicle." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-69371.
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The use of small scale Unmanned Aerial Vehicles (UAVs) is quickly becomingcommonplace in many domains. Operating such vehicles often requires using aspecialized radio control (RC) transmitter. One objective of this thesis is toinvestigate the use of other means of controlling a particular type of a UAV - aquadrotor. Two types of alternative devices are investigated, a standard gamingconsole controller PlayStation 3 gamepad (PS3 gamepad) and a smartphone(Android OS based). The purpose of substituting the RC controller is to make iteasier for a novice user to operate a UAV. The second objective is to investigate solutions to the problem of slung load control. A slung load is a uniform mass attached to a platform with a wire that may swingfreely. The slung load control problem consists of several subproblems: slung loadmodeling, altitude control, filtering of sensor data and the slung load control itself. The purpose of controlling the slung load is to reduce the oscillations of the load inflight and to minimize its influence on the flight performance of a UAV. Both types of alternative interfaces to the UAV were designed and implemented. Inorder to interface with the quadrotor platform at hand a new communicationprotocol based on TCP/IP was introduced. A study of the design process and typicaluse cases was performed. The two types of interfaces were evaluated by a group oftarget users as well as in real flight tests. The game controller was easy to use whilethe smartphone interface required automatic altitude control to be really useful. The evaluators found that the smartphone provided a smoother control over the steeringcompared to using the joystick on a game controller. The slung load control problem was investigated theoretically and in practice on astationary testing rig. The altitude control problem has been addressed byincorporating a PID controller which uses filtered data from a pressure sensor. ThePID control was extended with an anti-windup mechanism combined with afeedforward control of the tilt angle. A mechanism for a smooth transition from themanual to automatic altitude control modes was implemented and verified in flighttests.
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Unander, Max. "Autonomous flying of quadrotor : for 3D modeling and inspection of mineshafts." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-67845.
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This thesis presents a purposed navigation and control solution for autonomous ying of a quadrotor in conned spaces where positioning with GPS is notfeasible. The problem and related application considered is autonomous ying of a quadrotor in mineshafts for 3D modeling and inspection. Theoryand test results are presented including positioning experiments with a cameracombined with a UWB-ranging radio and a P-PI regulator for position control.It is argued that this is a viable and cost eective solution that can be usedto determine the position of the copter and control its position to within 0.2meters with stable controlled velocity.
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Gauthier, Jason A. "Quadrotor UAV Flight Control with Integrated Mapping and Path Planning Capabilities." Wright State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=wright1609779989188732.
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Lima, Fernando Mascagna Bittencourt. "Controle de estabilização de voo de VANTs quadrirrotores : modelagem, controle, simulação e prototipagem /." Bauru, 2020. http://hdl.handle.net/11449/192899.
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Orientador: Átila Madureira BuenoResumo: O controle de estabilização do voo de VANTs (veículos aéreos não tripulados) quadrirrotores abrange diversas áreas do conhecimento da engenharia, tais como mecânica, eletrônica e computação. O objetivo deste trabalho é o desenvolvimento de diferentes controladores para tal estabilização. Diferentes controladores (lineares e não lineares) foram desenvolvidos e avaliados a fim de estabelecer um comparativo entre os resultados obtidos para cada um e determinar qual deles é o mais eficiente para diferentes condições de voo. Para tal desenvolvimento, um modelo matemático do VANT em questão foi obtido a fim de possibilitar o projeto dos controladores. Este modelo utilizou os parâmetros de um quadrirrotor real que também foi desenvolvido neste projeto para validação da eficiência dos controladores desenvolvidos. O protótipo foi projetado de tal forma a possuir uma autonomia de voo suficiente para realização dos testes, resistência mecânica a todos as condições que pode ser exposto durante o voo, tais como vento e vibrações geradas, e ser controlável. Para a validação da eficiência dos controladores desenvolvidos, foram realizadas tanto simulações quanto testes aplicados ao protótipo fixado a uma estrutura giroscópica de testes. Para a realização das simulações, a planta a ser controlada foi o modelo encontrado anteriormente. Os resultados das simulações mostraram que todos os controladores desenvolvidos são capazes de estabilizar o voo do quadrirrotor. Já os testes aplicados ao prot... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: The flight stabilization control of quadrotor UAVs (unmanned aerial vehicles) covers several areas of engineering knowledge, such as mechanics, electronics and computing science. The objective of this work is the development of different controllers for such stabilization. Different controllers (linear and non-linear) were developed and evaluated in order to establish a comparison between the results obtained for each one and to determine which one is the most efficient for different flight conditions. For such development, a mathematical model of the UAV in question was obtained in order to enable the design of the controllers. This model used the parameters of a real quadrirotor that was also developed in this project to validate the efficiency of the developed controllers. The prototype was designed to have sufficient flight autonomy to carry out the tests, mechanical resistance to all conditions that can be exposed during the flight, such as wind and generated vibrations, and be controllable. In order to validate the efficiency of the developed controllers, simulations and tests were applied to the prototype attached to a gyroscopic test structure. To perform the simulations, the plant to be controlled was the model previously found. The results of the simulations showed that all the controllers developed are capable of stabilizing the flight of the quadrotor. The tests applied to the prototype, on the other hand, suffered non-modeled interferences such as inertia couplin... (Complete abstract click electronic access below)
Mestre
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Gilson, Maximillian Andrew. "Fault-tolerant mapping and localization for Quadrotor UAV." Wright State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435.
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Watts, Bryan D. "Integration of control algorithms for quadrotor UAV's using an indoor sensor environment." Thesis, Monterey, California. Naval Postgraduate School, 2011. http://hdl.handle.net/10945/5529.
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Approved for public release; distribution is unlimited.This thesis develops an architecture that facilitates the design and indoor testing of control algorithms implemented onboard quadrotor UAV's using an ultra-wideband (UWB) indoor positioning solution from Ubisense. Initially, details are provided on basic quadrotor dynamics, the setup of the indoor sensor environment, and the communication scheme. A thorough analysis is conducted on the accuracy and estimation lag of Ubisense UWB sensors for providing indoor position information to the quadrotor. Once this framework is established, the focus is placed on design and experimental validation of the altitude hold control algorithm. The observer used is a discrete Kalman filter that minimizes the covariance of position and acceleration measurement inputs to produce a smooth estimation of states (position, velocity and acceleration). These estimated states are then fed into a modified PD plus Integral controller to produce quadrotor thrust commands for given altitude step commands. Results indicate that the technology used is capable of maintaining a UAV's altitude within an error margin of +/-13.3 cm, but the relatively slow update rate of the Ubisense system limits the possibility of more complex and aggressive maneuvers.
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Sudakar, Madhavan. "Novel control techniques for a quadrotor based on the Sliding Mode Controller." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1613746605628363.
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Kirven, Thomas C. "AUTONOMOUS QUADROTOR COLLISION AVOIDANCE AND DESTINATION SEEKING IN A GPS-DENIED ENVIRONMENT." UKnowledge, 2017. https://uknowledge.uky.edu/me_etds/105.
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This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the guidance and control methods provide the quadrotor with sufficient autonomy to fly point to point, while avoiding obstacles.
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Stowers, John Ross. "Biologically Inspired Visual Control of Flying Robots." Thesis, University of Canterbury. Electrical and Computer Engineering, 2013. http://hdl.handle.net/10092/8729.
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Insects posses an incredible ability to navigate their environment at high speed, despite
having small brains and limited visual acuity. Through selective pressure they have
evolved computationally efficient means for simultaneously performing navigation tasks
and instantaneous control responses. The insect’s main source of information is visual,
and through a hierarchy of processes this information is used for perception; at the
lowest level are local neurons for detecting image motion and edges, at the higher level
are interneurons to spatially integrate the output of previous stages. These higher
level processes could be considered as models of the insect's environment, reducing the
amount of information to only that which evolution has determined relevant. The scope
of this thesis is experimenting with biologically inspired visual control of flying robots
through information processing, models of the environment, and flight behaviour.
In order to test these ideas I developed a custom quadrotor robot and experimental
platform; the 'wasp' system. All algorithms ran on the robot, in real-time or better,
and hypotheses were always verified with flight experiments.
I developed a new optical flow algorithm that is computationally efficient, and able
to be applied in a regular pattern to the image. This technique is used later in my
work when considering patterns in the image motion field.
Using optical flow in the log-polar coordinate system I developed attitude estimation
and time-to-contact algorithms. I find that the log-polar domain is useful for
analysing global image motion; and in many ways equivalent to the retinotopic arrange-
ment of neurons in the optic lobe of insects, used for the same task.
I investigated the role of depth in insect flight using two experiments. In the first
experiment, to study how concurrent visual control processes might be combined, I
developed a control system using the combined output of two algorithms. The first
algorithm was a wide-field optical flow balance strategy and the second an obstacle
avoidance strategy which used inertial information to estimate the depth to objects in
the environment - objects whose depth was significantly different to their surround-
ings. In the second experiment I created an altitude control system which used a model
of the environment in the Hough space, and a biologically inspired sampling strategy,
to efficiently detect the ground. Both control systems were used to control the flight
of a quadrotor in an indoor environment.
The methods that insects use to perceive edges and control their flight in response
had not been applied to artificial systems before. I developed a quadrotor control
system that used the distribution of edges in the environment to regulate the robot
height and avoid obstacles. I also developed a model that predicted the distribution of
edges in a static scene, and using this prediction was able to estimate the quadrotor
altitude.
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Valencia, Mamani Dalthon Abel. "Studies on obstacle detection and path planning for a quadrotor system." Master's thesis, Pontificia Universidad Católica del Perú, 2017. http://tesis.pucp.edu.pe/repositorio/handle/123456789/9660.
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Autonomous systems are one interesting topic recently investigated; for land and aerial
vehicles; however, the main limitation of aerial vehicles is the weight to carry on-board,
since the power consumed depends on this and hardware like sensors and processor
is limited. The present thesis develops an application of digital image processing to
detect obstacles using only a monocamera, there are some approaches but the present
report wants to focus on the distance estimation approach that, in future works, can
be combined with other methods since this approach is more general.
The distance estimation approach uses feature detection algorithms in two consecutive
images, matching them and thus estimate the obstacle position. The estimation
is computed through a mathematical model of the camera and projections between
those two images. There are many parameters to improve final results and the best
parameters are found and tested with consecutive images, which were captured every
0.5m along a straight path of 5m. Fraunhofer position modules are tested with the
entire algorithm. Finally, in order to establish the new path without obstacles, an optimal
binary integer programming problem is proposed, adapting the approach using
results obtained from the distance estimation and obstacle detection. Resulting data
is suitable for combining them with information obtained from conventional sensors,
such as ultrasonic sensors. The obtained mean error is between 1% and 12% in short
distances (less than 2.5 m) and greater with longer distances.
The complexity of this study lies in the use of a single camera for the capture of
frontal images and obtaining 3D information of the environment, the computation of
the obstacle detection algorithm is tested off-line and the path-planning algorithm is
proposed with detected keypoints in the background.Autonome Systeme sind ein interessantes Thema vor kurzem untersucht; für Land- und Luftfahrzeuge; Allerdings ist die Hauptbegrenzung von Luftfahrzeugen das Gewicht, um an Bord zu tragen, da die verbrauchte Energie davon abhängt und Hardware wie Sensoren und Prozessor begrenzt ist. Die vorliegende Arbeit entwickelt eine Anwendung der digitalen Bildverarbeitung zur Erkennung von Hindernissen, die nur eine Monokamera verwenden, es gibt einige Ansätze, aber der vorliegende Bericht will sich auf den Abstandsschätzungsansatz konzentrieren, der in Zukunft mit anderen Methoden kombiniert werden kann, da dieser Ansatz ist allgemeiner. Der Abstandsschätzungsansatz verwendet Merkmalserkennungsalgorithmen in zwei aufeinanderfolgenden Bildern, passt sie an und schätzt somit die Hindernisposition ab. Die Schätzung wird durch ein mathematisches Modell der Kamera und Projektionen zwischen diesen beiden Bildern berechnet. Es gibt viele Parameter, um die endgültigen Ergebnisse zu verbessern, und die besten Parameter werden mit aufeinanderfolgenden Bildern gefunden und getestet, die alle 0,5 m auf einem geraden Weg von 5 m erfasst wurden. Fraunhofer-Positionsmodule werden mit dem gesamten Algorithmus getestet. Schließlich wird, um den neuen Weg ohne Hindernisse zu etablieren, ein optimales Binär-Integer-Programmierproblem vorgeschlagen, das den Ansatz unter Verwendung von Ergebnissen, die aus der Abstandsschätzung und der Hinderniserkennung erhalten wurden, anpasst. Die daraus resultierenden Daten eignen sich zur Kombination mit Informationen aus konventionellen Sensoren wie Ultraschallsensoren. Der erhaltene mittlere Fehler liegt zwischen 1 % und 12 % in kurzen Abständen (weniger als 2,5 m) und größer mit längeren Abständen. Die Komplexität dieser Studie liegt in der Verwendung einer einzigen Kamera für die Erfassung von Frontalbildern und dem Erhalten von 3D-Informationen der Umgebung, wird die Berechnung des Hinderniserfassungsalgorithmus off-line getestet und derWegplanungsalgorithmus wird mit erkannten Keypoints vorgeschlagen im Hintergrund.
Tesis
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Duncan, Stuart Johann Maxwell. "Visual control of multi-rotor UAVs." Thesis, University of Canterbury. Electrical and Electronic Engineering, 2014. http://hdl.handle.net/10092/10051.
Full textAbstract:
Recent miniaturization of computer hardware, MEMs sensors, and high energy density
batteries have enabled highly capable mobile robots to become available at low cost.
This has driven the rapid expansion of interest in multi-rotor unmanned aerial vehicles.
Another area which has expanded simultaneously is small powerful computers, in the
form of smartphones, which nearly always have a camera attached, many of which now
contain a OpenCL compatible graphics processing units. By combining the results of
those two developments a low-cost multi-rotor UAV can be produced with a low-power
onboard computer capable of real-time computer vision. The system should also use
general purpose computer vision software to facilitate a variety of experiments.
To demonstrate this I have built a quadrotor UAV based on control hardware from
the Pixhawk project, and paired it with an ARM based single board computer, similar
those in high-end smartphones. The quadrotor weights 980 g and has a flight time of
10 minutes. The onboard computer capable of running a pose estimation algorithm
above the 10 Hz requirement for stable visual control of a quadrotor.
A feature tracking algorithm was developed for efficient pose estimation, which relaxed
the requirement for outlier rejection during matching. Compared with a RANSAC-
only algorithm the pose estimates were less variable with a Z-axis standard deviation
0.2 cm compared with 2.4 cm for RANSAC. Processing time per frame was also faster
with tracking, with 95 % confidence that tracking would process the frame within 50 ms,
while for RANSAC the 95 % confidence time was 73 ms. The onboard computer ran the
algorithm with a total system load of less than 25 %. All computer vision software uses
the OpenCV library for common computer vision algorithms, fulfilling the requirement
for running general purpose software.
The tracking algorithm was used to demonstrate the capability of the system by per-
forming visual servoing of the quadrotor (after manual takeoff). Response to external
perturbations was poor however, requiring manual intervention to avoid crashing. This
was due to poor visual controller tuning, and to variations in image acquisition and
attitude estimate timing due to using free running image acquisition.
The system, and the tracking algorithm, serve as proof of concept that visual control of
a quadrotor is possible using small low-power computers and general purpose computer
vision software.
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Pilz, Ulf [Verfasser]. "Cooperative Control of Multi-Agent Systems with Application to Quadrotor Helicopters / Ulf Pilz." München : Verlag Dr. Hut, 2014. http://d-nb.info/1051550491/34.
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Fan, Jiankun. "Optimal Path Planning and Control of Quadrotor Unmanned Aerial Vehicle for Area Coverage." University of Toledo / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1417345596.
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Abdul, Ghaffar Alia Farhana Binti. "Model reference adaptive control applied to a quadrotor with varying mass Abdul Ghaffar." Thesis, University of Bristol, 2017. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.730885.
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Wang, Jing. "Analyse et commande sans modèle de quadrotors avec comparaisons." Phd thesis, Université Paris Sud - Paris XI, 2013. http://tel.archives-ouvertes.fr/tel-00952401.
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Inspiré par les limitations de contrôleurs PID traditionnels et les différentes performances dans les cas idéals et réalistes, les quadrotors existants, leurs applications et leurs méthodes de contrôle ont été intensivement étudiés dans cette thèse. De nombreux challenges sont dévoilés: les systèmes embarqués ont des limites des ressources de calcul et de l'énergie; la dynamique est assez complexe et souvent mal connu; l'environnement a beaucoup de perturbations et d'incertitudes; de nombreuses méthodes de contrôle ont été proposées dans des scénarios idéaux dans la littérature sans comparaison avec d'autres méthodes. Par conséquent, cette thèse porte sur ces principaux points dans le contrôle de quadrotors.Tout d'abord, les modèles cinématiques et dynamiques sont proposés, y compris toutes les forces et couples aérodynamiques importants. Un modèle dynamique simplifié est également proposé pour certaines applications. Ensuite, la dynamique de quadrotor est analysée. En utilisant la théorie de la forme normale, le modèle de quadrotor est simplifié à une forme plus simple nommée la forme normale, qui présente toutes les propriétés dynamiques possibles du système d'origine. Les bifurcations de cette forme normale sont étudiées, et le système est simplifié à son point de bifurcation en utilisant la théorie de la variété du centre. Basé sur l'étude des applications de quadrotors, cinq scénarios réalistes sont proposés : un cas idéal, les cas avec la perturbation du vent, les incertitudes des paramètres, les bruits de capteurs et les fautes de moteur. Ces cas réalistes peuvent montrer plus globalement les performances des méthodes de contrôle par rapport aux cas idéaux. Un schéma déclenché par événements est également proposé avec le schéma déclenché par. Ensuite, la commande sans modèle est présentée, Il s'agit d'une technique simple mais efficace pour la dynamique non-linéaire, inconnue ou partiellement connue. La commande par backstepping et la commande par mode glissant sont également proposées pour la comparaison.Toutes les méthodes de contrôle sont mises en œuvre sous les schémas déclenchés par temps et par événements dans cinq scénarios différents. Basé sur l'étude des applications de quadrotors, dix critères sont choisis pour évaluer les performances des méthodes de contrôle, telles que l'erreur maximale absolue de suivi, la variance de l'erreur, le nombre d'actionnement, la consommation d'énergie, etc.
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Alvarez, muñoz Jonatan. "Modeling and control of VTOL vehicles with rigid manipulators." Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAT077/document.
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La manipulation aérienne a été un domaine de recherche actif ces dernières années, principalement parce que les applications actives des véhicules aériens autonomes (UAV en anglais), augmente l'employabilité de ces véhicules pour diverses applications.Le développement récent de la manipulation aérienne a trouvé des applications potentielles dans les deux domaines, militaires et civils. Les applications militaires incluent le patrouilleur des frontières, la détection des mines, la reconnaissance, etc., tandis que les applications civiles sont en matière de gestion des catastrophes, d'inspection des ponts, de construction, de livraison de matériel, de recherche et de sauvetage, etc.La recherche sur la robotique aérienne implique principalement des hélicoptères et des architectures de décollage et d'atterrissage verticales (VTOL). Le principal avantage de ces plates-formes est leur maniabilité et la capacité d'effectuer des vols stationnaires, ce qui est essentiel pour les applications. Cette thèse porte sur les avions VTOL, où l'hélicoptère à quatre rotors ou quadrirotor est principalement étudié.En ce qui concerne le problème de la manipulation aérienne, la quantité d'applications augmente, mais en même temps, la complexité de la modélisation et du contrôle d'un tel système est également plus grande. L'un des plus grands défis réside dans leur charge utile limitée. Certaines approches ont essayé de résoudre le problème en utilisant plusieurs robots pour transporter des charges utiles avec des pinces ou des câbles, où leurs effecteurs et pinces doivent être légers eux-mêmes et capables de saisir des formes complexes. Un autre défi est que la dynamique du robot est considérablement modifiée par l'ajout de charges utiles. Cependant, pour le transport de la charge utile, il est nécessaire que les robots puissent estimer l'inertie de la charge utile et s'y adapter pour améliorer les performances de suivi.Selon les antécédents et les défis sur les véhicules VTOL portant des charges utiles ou des manipulateurs, la contribution du présent travail est centrée sur la modélisation et la conception d'une loi de commande non linéaire et une analyse de stabilité formelle pour la stabilisation asymptotique d'un véhicule VTOL portant un bras manipulateur. Pour cela, un modèle général d'un quadrirotor portant un bras manipulateur est proposé. Après cela, une loi de commande presque globalement asymptotique lisse pour la stabilisation de l'attitude qui prend en compte les effets de mouvement du bras est conçue. Une fois que le problème d'attitude est résolu, il est possible de concevoir un contrôleur non linéaire globalement asymptotique pour la dynamique de position basée sur l'utilisation de somme des fonctions saturés afin de prendre en compte les limitations des actionneurs. Enfin, certaines expériences pour valider les lois de commande proposées sont effectuéesAerial manipulation has been an active area of research in recent years, mainly because the active tasking of Unmanned Aerial Vehicles (UAV) increases the employability of these vehicles for various applications.The recent development of the aerial manipulation has found potential applications in both, military and civilian domains. Military applications include border patrolling, mine detection, reconnaissance, etc., while civilian applications are in disaster management, bridge inspection, construction, material delivery, search and rescue, etc.The research on aerial robotics has mainly involved helicopters and Vertical Take-off and Landing (VTOL) architectures. The main advantage of these platforms is theirmaneuverability and the capacity to perform hovers, which is essential for the applications. This thesis deals with VTOL aircrafts, where the four rotor helicopter, quadcopter or quadrotor is mainly studied.Regarding the problem of aerial manipulation, the amount of applications are increased, but at the same time the complexity of modeling and control of such a system are equally bigger. One of the biggest challenges arise from their limited payload. Some approaches have tried to solve the problem using multiple robots to carry payloads with grippers or with cables, where their end effectors and grippers have to be lightweight themselves and capable of grasping complex shapes. Another challenge is that the dynamics of the robot are significantly altered by the addition of payloads. However, for payload transport, it is necessary that the robots are able to estimate the inertia of the payload and adapt to it to improve tracking performance.According to the background and challenges on VTOL vehicles carrying payloads or manipulators, the contribution of the present work is centered on the modelling and the design of a nonlinear control and a formal stability analysis for the asymptotical stabilization of a VTOL vehicle carrying a manipulator arm. For this a general model of a quadcopter carrying a manipulator arm is proposed. After that, a smooth almost globally asymptotically control law for attitude stabilization which takes into account the arm motion effects is designed. Once the attitude problem is solved, it is possible to design a a globally asymptotically nonlinear controller for the translational dynamics based in the usage of nested and sum of saturation functions in order to take into account the actuators limitations. Finally, some experiments in order to validate the proposed control laws are carried out
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Hou, Zhicheng. "Modeling and formation controller design for multi-quadrotor systems with leader-follower configuration." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2259/document.
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Cette thèse propose des solutions aux problématiques inhérentes au contrôle de formations aériennes de type leader-suiveur pour des flottes de quadrirotors. Au regard des travaux existants, les stratégies qui sont proposés dans notre travail, considère que le(s) leader{s) a une interaction avec les suiveurs. En outre, les rôles de leader et de suiveur sont interchangeables lors de la formation. Dans un premier temps, la modélisation mathématique d'un seul quadrirotor et celle de la formation de quadrirotors est développée. Ensuite, le problème de suivi de trajectoire pour un seul quadrirotor est étudié. Au travers de l'analyse de 1, dynamique du système pour la conception d'une commande par platitude, il apparait que le suivi de trajectoire pour chaque quadrirotor équivaut à déterminer les sorties plates désirées. Un contrôleur pour système plats permettant l'asservissement des drones pour le suivi de trajectoire est donc proposé. Étant donné la propriété de double-boucle de la dynamique du quadrirotor en boucle fermée, un contrôleur d'attitude avec des grands gains est conçu, selon la théorie « singular perturbation system ». Puisque la dynamique du quadrirotor en boucle fermée fonctionne sur deux échelles de temps, la dynamique de rotation (boundary-layer mode) est contrôlée sur l'échelle de temps la plus rapide. La conception du contrôleur de formation dépend seulement de la dynamique de translation (modèle réduit dans une échelle de temps lente). Ce résultat a simplifié la conception du contrôleur de formation, de telle sorte que le modèle réduit du quadrirotor est utilisé au lieu du modèle complet. Étant donné que le modèle réduit du quadrirotor a une caractéristique de double-intégrateur, un algorithme de consensus pour des systèmes caractérisés par de multiple double-intégrateurs est proposé. Pour traiter le problème de la formation leader-suiveur, une matrice d'interaction est initialement proposée basée sur la matrice de Laplacienne. Nous montrons que la condition de convergence et la vitesse de convergence de l'erreur de formation dépendent de la plus petite valeur propre de la matrice d'interaction. Trois stratégies de contrôle de la formation avec une topologie fixe sont ensuite proposées. Le contrôle de formation par platitude est proposé pour obtenir une formation agressive, tandis que les dérivées de grands ordres de la trajectoire désirée pour chaque UAV sont estimées en utilisant un observateur; la méthode Lyapunov redesign est implémentée pour traiter les non-linéarités de la dynamique de la translation des quadrotors; une loi de commande bornée par l'utilisation, entre autre, de la fonction tangente hyperbolique est développée avec un feedback composite non linéaire, afin d'améliorer les performances de la formation. De plus, une commande de commutation saturée de la formation est étudiée, car la topologie de la formation est variable. La stabilité du système est obtenue grâce aux théories “convex hull » et « common Lyapunov function ». Cette stratégie de commande de commutation permet le changement des leaders dans la formation. Inspirée par certains travaux existants, tels que le contrôle de la formation avec des voisins anonymes, nous proposons, finalement, une loi de commande avec des voisins pondérés, qui montre une meilleure robustesse que le contrôle avec des voisins anonymes. Les résultats de simulation obtenus avec Matlab illustrent premièrement nos stratégies de contrôle que nous proposons De plus, en utilisant le langage de programmation C ++, nos stratégies sont mises en œuvre dans un framework de simulation et d'expérimentation développé au laboratoire Heudiasyc. Grâce aux nombreux tests variés que nous avons réalisés en simulation et en temps-réel, l'efficacité et les avantages de nos stratégies de contrôle de la formation proposées sont présentésIn this thesis, we address a leader-follower (L-F) formation control problem for multiple UAVs, especially quadrotors. Different from existing works, the strategies, which are proposed in our work, consider that the leader(s) have interaction with the followers. Additionally, the leader(s) are changeable during the formation. First, the mathematical modeling of a single quadrotor and of the formation of quadrotors is developed. The trajectory tracking problem for a single quadrotor is investigated. Through the analysis of the flatness of the quadrotor dynamical model, the desired trajectory for each quadrotor is transferred to the design of the desired at outputs. A flatness-based trajectory tracking controller is, then, proposed. Considering the double-loop property of the closed-loop quadrotor dynamics, a high-gain attitude controller is designed, according to the singular perturbation system theory. Since the closed-loop quadrotor dynamics performs in two time scales, the rotational dynamics (boundary-layer model) is controlled in a fast time scale. The formation controller design is then only considered for the translational dynamics: reduced model in a slow time scale. This result has simplified the formation controller design such that the reduced model of the quadrotor is considered instead of the complete model. Since the reduced model of the quadrotor has a double-integrator characteristic, consensus algorithm for multiple double-integrator systems is proposed. Dealing with the leader-follower formation problem, an interaction matrix is originally proposed based on the Laplacian matrix. We prove that the convergence condition and convergence speed of the formation error are in terms of the smallest eigenvalue of the interaction matrix. Three formation control strategies with fixed formation topology are then proposed. The flatness-based formation control is proposed to deal with the aggressive formation problem, while the high-order derivatives of the desired trajectory for each UAV are estimated by using an observer; the Lyapunov redesign is developed to deal with the nonlinearities of the translational dynamics of the quadrotors; the hyperbolic tangent-based bounded control with composite nonlinear feedback is developed in order to improve the performance of the formation. In an additional way, a saturated switching control of the formation is investigated, where the formation topology is switching. The stability of the system is obtained by introducing the convex hull theory and the common Lyapunov function. This switching control strategy permits the change of the leaders in the formation. Inspired by some existing works, such as the anonymous neighbor-based formation control, we finally propose a weighted neighbor-based control, which shows better robustness than the anonymous neighbor-based control. Simulation results using Matlab primarily illustrate our proposed formation control strategies. Furthermore, using C++ programming, our strategies are implemented on the simulator-experiment framework, developed at Heudiasyc laboratory. Through a variety of tests on the simulator and real-time experiments, the efficiency and the advantages of our proposed formation control strategies are shown. Finally, a vision-based inter-distance detection system is developed. This system is composed by an on-board camera, infrared LEDs and an infrared filter. The idea is to detect the UAVs and calculate the inter-distance by calculating the area of the special LEDs patterns. This algorithm is validated on a PC, with a webcam and primarily implemented on a real quadrotor
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Hedin, Johan, and Idris Sahil. "Dynamic Motion Control of a Team of Quadrotor Aircraft Using the Potential Field Method." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-214708.
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Unmanned air vehicles (UAV) are becoming moreand more widely used for a variety of different purposes.Transportation, surveillance and defense are but a few of theirapplication fields. There is therefore a need for a system in placethat makes sure the UAV’s are flying properly and withoutcrashing. In this project we seek to find a solution to this problemand develop such a navigation system. This has been done by theuse of sensors to help generate a potential field. The navigationsystem will with the use of potential fields help the UAV reach itsdestination while avoiding collision with other UAV’s anddifferent obstacles. This has all been simulated in Matlab, andthe results are the UAV successfully reaching its destinationwhile avoiding collisions.
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Riether, Fabian. "Agile quadrotor maneuvering using tensor-decomposition-based globally optimal control and onboard visual-inertial estimation." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106777.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 123-127).
Over the last few years, quadrotors have become increasingly popular amongst researchers and hobbyist. Although tremendous progress has been made towards making drones autonomous, advanced capabilities, such as aggressive maneuvering and visual perception, are still confined to either laboratory environments with motion capture systems or drone platforms with large size, weight, and power requirements. We identify two recent developments that may help address these shortcomings. On the one hand, new embedded high-performance computers equipped with powerful Graphics Processor Units (GPUs). These computers enable real-time onboard processing of vision data. On the other hand, recently introduced compressed continuous computation techniques for stochastic optimal control allow designing feedback control systems for agile maneuvering. In this thesis, we design, implement and demonstrate a micro unmanned aerial vehicle capable of executing certain agile maneuvers using only a forward-facing camera and an inertial measurement unit. Specifically, we develop a hardware platform equipped with an Nvidia Jetson embedded super-computer for vision processing. We develop a low-latency software suite, including onboard visual marker detection, visual-inertial estimation and control algorithms. The full-state estimation is set up with respect to a visual target, such as a window. A nonlinear globally-optimal controller is designed to execute the desired flight maneuver. The resulting optimization problem is solved using tensor-train-decomposition-based compressed continuous computation techniques. The platform's capabilities and the potential of these types of controllers are demonstrated in both simulation studies and in experiments.
by Fabian Riether.
S.M.
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Choon, Junwei. "Development and validation of a controlled virtual environment for guidance, navigation and control of quadrotor UAV." Thesis, Monterey, California: Naval Postgraduate School, 2013. http://hdl.handle.net/10945/37600.
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Approved for public release; distribution is unlimitedThis thesis is focused on the development of a six degrees of freedom (6DOF) simulation model of a commercial-off-the-shelf quadrotor. The dynamics of the quadrotor and its control strategy are described. The Geometric Dilution of Precision (GDOP) of the Autonomous Systems Engineering and Integration Laboratory (ASEIL) laboratory used in conducting the experiments is also analyzed. Simulation results are then verified with actual flight data. A direct method of calculus of variations is employed in the development of an algorithm for optimal trajectory generation and collision-free flight. Using the differential-flatness characteristics of the system, the trajectory optimization is posed as a nonlinear constrained optimization problem in virtual domain, not explicitly related to the time domain. Appropriate parameterized functions employing an abstract argument, known as the virtual arc, are used to ensure initial and terminal constraints satisfaction. A speed factor maps the virtual to the time domain and controls the speed profile along any predetermined trajectory. An inner loop attitude controller was used to achieve almost global asymptotic attitude tracking for trajectory following. The trajectory generation and following algorithms were verified using the 6DOF simulation model through a simulated collision avoidance scenario.
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Jung-FengYang and 楊榮? "Attitude Control of Quadrotor." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/33276606099327867552.
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碩士國立成功大學
航空太空工程學系碩博士班
98
Investigations and researches on Unmanned Aerial Vehicles (UAVs) have become the most popular topics recently, because of the advantages on small size, light structures and high maneuverability. Even in military application, the UAV has its merits to investigate. Without concerning about the safety of pilot is the key merit which attracts researchers to join this field. There were two primary categories of UAVs, fixed-wing UAVs and rotary-wing UAVs. This thesis concerns about the dynamics of quadrotor, where the lift of craft is manipulated by regulating the blade’s pitch angle. The point to point flight is achieved by a corresponding attitude and PID control loops for providing required lift. Numerical simulations demonstrate the performance of the resulting point to point flight of the quadrotor.
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Tseng, Ya-Chu, and 曾雅竹. "Audio Control of Quadrotor." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/25282619054969101081.
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碩士淡江大學
航空太空工程學系碩士班
103
This dissertation discusses audio control of quadrotor. First we use matlab to develop audio control algorithm and simulation then use Python to realize the control algorithm. The audio control algorithm base on read a audio file from computer and changed the attitude of the quadrotor by the pitch of the audio file. The proposed control algorithm was successfully verified through a real quadrotor flight experiment.
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Chen, Wei-Hao, and 陳偉皓. "Gesture Control of Quadrotor." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/22230638026196850124.
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碩士淡江大學
航空太空工程學系碩士班
102
Recent year Quadrotor became more popular, normally people using radio joystick to control Quadrotor. But radio joystick has many control column, people need time to know well how it work. Using gesture control is more familiar, you can just image your hand is the Quadrotor. What you want Quadrotor do your hand do the same attitude. In this paper using Leap motion as the gesture controller, then transmit data by Xbee wireless module. In the Quadrotor side using Arduino UNO decode the data and simulate PWM wave to control the Quadrotor.
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Lin, Yu-Ting, and 林昱廷. "Hovering Control of Quadrotor Vehicle." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/88559717849192473687.
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碩士國立臺灣海洋大學
電機工程學系
103
The goal of this thesis is to design a hovering controller, implemented by TMS320F28335 DSP chip, for a quadrotor vehicle. First, the Newton-Euler method is utilized to derive the quadrotor dynamics equations. Some experiments on the quadrotor vehicle are made to identify the model parameters. Based on the LQR control and the H∞ control methods, PID controllers are designed via a state augmentation approach. Finally, simulation and experiment results verify the proposed methods.
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Chiang, Kuan-Ting, and 江冠廷. "Hovering Control of Quadrotor Using Fuzzy Control Method." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/17479917322870302355.
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碩士國立宜蘭大學
機械與機電工程學系碩士班
104
The purpose of this study is to design a quadrotor’s control system, which is able to autonomously letting the quadrotor hovering at the position expected. This thesis is divided into three parts: hardware circuit design, image recognition system, and hovering control system. In the hardware circuit design, Bluetooth transmission functions, the attitude sensor MPU6050 and the core microcontroller Atmega328 were combined into a circuit board, and added wireless burning capabilities, that makes not only burning programs more conveniently, but also saving the space of expansion boards. In the image recognition system, the Computer Vision System Toolbox of Matlab/Simulink was used to identify the current location of the quadrotor. In the hovering control system, the errors between the results of image recognition system and the position of command were feedback to the fuzzy PID control system which were designed by using the Fuzzy Logic Toolbox of Matlab/Simulink and to achieve the quadrotor’s hovering control. The feasibility of this control theory was verified by the experimental results,which showed that Fuzzy PID control methods is better than PID control methods.