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| Author | : Mohamed Elkhatib |
| Publisher | : |
| Total Pages | : 144 |
| Release | : 2017-01-26 |
| Genre | : |
| ISBN | : 9783330845961 |
| Author | : Amr Mohamed Elhennawy |
| Publisher | : |
| Total Pages | : 238 |
| Release | : 2018 |
| Genre | : Motor vehicles |
| ISBN | : |
Abstract: It is not easy to control a quadrotor due to its highly nonlinear dynamics, variable coupling and model uncertainties. The underactuation property of the quadrotor also poses another degree of complexity to the model due to the limited availability of control techniques that can be applied to underactuated systems. This thesis presents the development of mathematical modeling, control techniques, simulation and real-time testing on a developed quadrotor as an unmanned aerial vehicle. Modeling of the dynamic system of a quadrotor including the motor dynamics is carried out using Newton-Euler mechanics and state space representation is obtained. Using this model a second-order Sliding Mode Control (SMC) is developed as a nonlinear robust control technique. For the SMC development, quadrotor system is divided into two subsystems, One represents the fully actuated degrees of freedom and the other one represents the underactuated degrees of freedom. The aim of the proposed flight controller is to achieve asymptotic position and attitude tracking of the two subsystems by driving the tracking errors to zero to achieve the required tracking performance. Tackling of chattering problem associated with SMC is introduced. Using the developed mathematical model and the developed two control techniques as linear and nonlinear approaches: the Proportional plus Derivative (PD)and SMC, simulation testing is conducted with and without the presence of external disturbances representing weight variation. Multiple simulations testing are performed to ensure the adequacy of the proposed control techniques using MATLAB and Simulink. Detailed discussion on the results of each control technique and comparison are presented with elaborate consideration of the robustness against weight variation. The simulation results demonstrate the ability of the SMC to drive the vehicle to stability and achieve the desired performance characteristics. . Finally, hardware design of a quadrotor has been developed and implemented with considerations on the hardware challenges are presented. Results of real-time ght tests using the two developed control techniques are presented and compared with that of the simulation results and it shows reliable performance of the nonlinear robust SMC controller. Flight tests results came consistent with the simulation results in terms of tracking performance, robustness and actuators e orts. Hardships in the implementation are mentioned and recommendations and future work are proposed.
| Author | : Heba talla Mohamed Nabil Elkholy |
| Publisher | : |
| Total Pages | : 117 |
| Release | : 2014 |
| Genre | : Avrocar (VTOL airplane) |
| ISBN | : |
Abstract: With the huge advancements in miniature sensors, actuators and processors depending mainly on the Micro and Nano-Electro-Mechanical-Systems (MEMS/NEMS), many researches are now focusing on developing miniature flying vehicles to be used in both research and commercial applications. This thesis work presents a detailed mathematical model for a Vertical Takeo ff and Landing (VTOL) type Unmanned Aerial Vehicle(UAV) known as the quadrotor. The nonlinear dynamic model of the quadrotor is formulated using the Newton-Euler method, the formulated model is detailed including aerodynamic effects and rotor dynamics that are omitted in many literature. The motion of the quadrotor can be divided into two subsystems; a rotational subsystem (attitude and heading) and a translational subsystem (altitude and x and y motion). Although the quadrotor is a 6 DOF underactuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is underactuated. The derivation of the mathematical model is followed by the development of four control approaches to control the altitude, attitude, heading and position of the quadrotor in space. The fi rst approach is based on the linear Proportional-Derivative-Integral (PID) controller. The second control approach is based on the nonlinear Sliding Mode Controller (SMC). The third developed controller is a nonlinear Backstepping controller while the fourth is a Gain Scheduling based PID controller. The parameters and gains of the forementioned controllers were tuned using Genetic Algorithm (GA) technique to improve the systems dynamic response. Simulation based experiments were conducted to evaluate and compare the performance of the four developed control techniques in terms of dynamic performance, stability and the effect of possible disturbances.
| Author | : Bekkay Hajji |
| Publisher | : Springer Nature |
| Total Pages | : 858 |
| Release | : 2020-08-14 |
| Genre | : Technology & Engineering |
| ISBN | : 9811562598 |
This book includes papers presented at the Second International Conference on Electronic Engineering and Renewable Energy (ICEERE 2020), which focus on the application of artificial intelligence techniques, emerging technology and the Internet of things in electrical and renewable energy systems, including hybrid systems, micro-grids, networking, smart health applications, smart grid, mechatronics and electric vehicles. It particularly focuses on new renewable energy technologies for agricultural and rural areas to promote the development of the Euro-Mediterranean region. Given its scope, the book is of interest to graduate students, researchers and practicing engineers working in the fields of electronic engineering and renewable energy.
| Author | : |
| Publisher | : |
| Total Pages | : 69 |
| Release | : 2019 |
| Genre | : Electronic books |
| ISBN | : |
The use of quadrotor or quadcopter type aerial vehicles has increased greatly in many industries and continues to be expanded. Many of the uses for the vehicle involve autonomously following a desired trajectory. More specifically there is a need for a control system that automatically executes a predetermined desired trajectory. This is often called the trajectory tracking problem and has been solved in a variety of different ways. In this thesis an LQR controller with time varying gains is designed, that is able to eliminate tracking error, by evaluating the linear time varying estimation of the quadcopter dynamics about a predetermined trajectory. This is done by obtaining the reference states and inputs in terms of a so called “flat output”. The performance of the LQR is evaluated via numerical simulation of various trajectories. To obtain realistic use cases some consideration is paidto the development of trajectories and the feasibility conditions needed to execute the desired trajectories. This is then compared to simplified dynamic models and variations of optimal control law for steady state cases. It is determined that the performance of a simplified LQR and dynamic model is acceptable for certain classes of the trajectories attempted. This control structure is then put onto an AR.Drone 2.0 and tested for altitude, pitch, roll, and yaw stability using MATLAB/Simulink with embedded coder. In doing so comparisons are made between different sensor fusion techniques for attitude estimation from an onboard inertial measurement unit (IMU). Comparisons between the AR.Drone 2.0 performance and the simulation results in altitude control show a possible discrepancy between the dynamic model and the real system. The addition of an integrator is used to achieve stable altitude control and correct error. This is done without full position and orientation feedback and uses only onboard sensors from the AR.Drone 2.0.
| Author | : Emilio S. Corchado Rodriguez |
| Publisher | : Springer |
| Total Pages | : 739 |
| Release | : 2012-03-15 |
| Genre | : Computers |
| ISBN | : 3642289428 |
The two LNAI volumes 7208 and 7209 constitute the proceedings of the 7th International Conference on Hybrid Artificial Intelligent Systems, HAIS 2012, held in Salamanca, Spain, in March 2012. The 118 papers published in these proceedings were carefully reviewed and selected from 293 submissions. They are organized in topical sessions on agents and multi agents systems, HAIS applications, cluster analysis, data mining and knowledge discovery, evolutionary computation, learning algorithms, systems, man, and cybernetics by HAIS workshop, methods of classifier fusion, HAIS for computer security (HAISFCS), data mining: data preparation and analysis, hybrid artificial intelligence systems in management of production systems, hybrid artificial intelligent systems for ordinal regression, hybrid metaheuristics for combinatorial optimization and modelling complex systems, hybrid computational intelligence and lattice computing for image and signal processing and nonstationary models of pattern recognition and classifier combinations.
| Author | : Fiona Chui |
| Publisher | : |
| Total Pages | : |
| Release | : 2017 |
| Genre | : |
| ISBN | : |
"As quadrotor unmanned aerial vehicles (UAVs) become more commonplace, the inherent safety risks that these vehicles pose must be addressed. Focus is placed on the risk of losing flight control after a quadrotor UAV collides with an obstacle, which is a danger for anyone in proximity of the vehicle. A collision dynamics model of a quadrotor UAV with bumpers (i.e., propeller protection) is developed for the purpose of developing a collision recovery strategy to return the quadrotor to a hovering configuration after colliding with a wall, using only on-board sensors. The model includes forces and moments from the standard quadrotor rigid-body dynamics formulation, combined with contact forces applied at contact points on the bumpers. The model is simulated under an array of different incoming impact velocities and attitudes for model verification and studying the quadrotor post-collision response. Validation is provided by comparing the simulated post-collision response to experimental results with the same pre-impact conditions, to show the model is a suitable tool for collision recovery development. An overall recovery strategy is presented: the Collision Recovery Pipeline (CRP), comprising of three phases. The first two phases, Collision Identification and Collision Characterization, are formulated. The first phase detects the collision and estimates the contact surface normal direction with accelerometer measurements. The second phase uses a fuzzy logic process (FLP) to identify the difficulty of recovery. Monte Carlo simulation and experimental data demonstrate that the two phases provide useful information to the final CRP phase. Simulations and experiments of the complete recovery solution demonstrate successful quadrotor recovery for initial collision velocities up to 3 m/s, and the effect of the first two phases on the recovery control performance." --
| Author | : Endre Pap |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 342 |
| Release | : 2012-10-20 |
| Genre | : Technology & Engineering |
| ISBN | : 364233959X |
The theory and applications of intelligent systems is today an important field of research. This book is an up-to-date collection of seventeen chapters, written by recognized experts in the field. In an introductory mathematical foundations part an overview of generalizations of the integral inequalities for nonadditive integrals and a construction of the General Prioritized Fuzzy Satisfaction Problem is given. Then different aspects of robotics are presented, such as the differences between human beings and robots, the motion of bipedal humanoid robots, and an evaluation of different autonomous quadrotor flight controllers. Also Fuzzy Systems are presented by a model of basic planar imprecise geometric objects allowing various applications in image analysis , GIS, and robotics, as well as a type-2 fuzzy logic in a software library for developing perceptual computers, and a two--degree--of--freedom speed control solutions for a brushless Direct Current motor. The book also presents recent applications in medicine such as a Virtual Doctor System, methods for a face to face human machine interaction, and an emotion estimation, with applications for multiple diseases and the effect of the applied therapy. The last part of the book covers different applications in transportation, network monitoring, and localization of pedestrians in images.
| Author | : Luis Rodolfo García Carrillo |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 191 |
| Release | : 2012-08-12 |
| Genre | : Technology & Engineering |
| ISBN | : 144714399X |
Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
| Author | : Muhammad Awais Sattar |
| Publisher | : |
| Total Pages | : 76 |
| Release | : 2017 |
| Genre | : Drone aircraft |
| ISBN | : |
"In this thesis, intelligent controllers are designed to control attitude for quadrotor UAV (Unmanned Aerial Vehicle).Quadrotors have a variety of applications in real time e.g. surveillance, inspection, search, rescue and reducing the human force in undesirable conditions. Quadrotors are generally unstable systems; the kinematics of quadrotor resembles the kinematics of inverted pendulum. In order to avoid the possibility of any kind of damages, the mathematical model of quadrotor should be developed and after that, the different control techniques can be implemented. This thesis presents a detailed simulation model for a Quadrotor. For the control purpose, three classical and modern control strategies are separately implemented which are PID, Fuzzy, and Adaptive Fuzzy PID for four basic motions roll, pitch, yaw, and Z Height. For better performance, error reduction and easy tuning, this thesis introduces individual controllers for all basic motion of a Quadrotor. The modeling and control is done using MATLAB/Simulink. The main objective of this thesis is to get the desired output with respect to the desired the input. At the end, simulation results are compared to check which controller acts the best for the developed Quadrotor model"--Abstract.
