Download or read book Autonomous Hovering Controller Design Using Sliding Mode Control Theory and Its Flight Test Verification for Small scaled Unmanned Helicopter System written by 林建宏 and published by . This book was released on 2010 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Linear and Nonlinear Control of Small Scale Unmanned Helicopters written by Ioannis A. Raptis and published by Springer Science & Business Media. This book was released on 2010-09-28 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors. • Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms. This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required.

Download or read book Control oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small scale Unmanned Helicopter written by Sepehr Pourrezaei Khaligh and published by . This book was released on 2014 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation are identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled environment on the ground. The controller is also tested in real flights.

Download or read book Micro Coaxial Helicopter Controller Design written by Zelimir Husnic and published by . This book was released on 2015 with total page 244 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the advantages of the micro coaxial helicopter is in its maneuverability. It can perform some flight maneuvers that a fixed-wing aircraft cannot do - like hovering, perching, vertical take-off and landing, flying backwards, or moving sideways to the left or to the right. It is also more agile than the conventional helicopter with a counter-gyro effect rotor at the tail of the fuselage. However, due to its small size and sensitivity to disturbances, the micro coaxial helicopter is more challenging to control than a full-scale helicopter. \In this work, the flight dynamics of the micro coaxial helicopter were investigated and a simplified model for the autonomous flight control system design was constructed. System identification techniques as used in full-scale helicopters have been successfully applied to the micro coaxial unmanned helicopter. The essential parts of system identification include model theory, experimental data acquisition, parameter estimation, and model validations. The multivariable tracking and H2 control theory were employed to design a flight control system that would provide desired stability and performance for autonomous flight of a variety of maneuvers mentioned above. With a well-designed autonomous flight control system, the micro coaxial helicopter can be deployed for battle field awareness in battle fields, surveillance for search and rescue, border patrol, counter-terrorism operations, etc.

Download or read book Quad Rotorcraft Control written by Luis Rodolfo García Carrillo and published by Springer Science & Business Media. This book was released on 2012-08-12 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book DESIGNING A CONTROL SYSTEM FOR THE AUTONOMOUS SMALL SCALE HELICOPTER written by Satish Sajja and published by . This book was released on 2010 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: Designing a control system for the autonomous small scale helicopter mainly consists of two parts. First, Identify the system model (Helicopter model) and the second part is designing the compensator. Modeling the helicopter can be achieved by either first principles modeling or black box modeling. Based on the Model obtained, different controlling techniques can be used to design a compensator to achieve stability. This thesis presents an easy and accurate method to design the control system for the autonomous small scale helicopter. The helicopter system is identified using experimental data (black box modeling) with the help of MATLAB system identification tool box. And then the compensator is designed by using the MATLAB control system tool box. Various controlling methods like PID (Proportional Integral and Derivative), LQG (Linear Quadratic Gaussian) and IMC (Internal Model Controller) are compared while tuning the system to achieve highstability. The stability of the system is measured by its step response. Finally the system is simulated and its functionality is verified in MATLAB simulink. Since this thesis is focusing on the stable hovering state of the helicopter, we developed a simulated control system for the swash plate of the helicopter. Swash plate is mainly responsible for the helicopter's dynamics in rotation about X body axis (Roll) and rotation about Y body axis (Pitch). So the control system is developed and simulated in order to control the roll and pitch angles of the helicopter. The results show that LQG method gives the better step response than IMC, PID methods.

Download or read book Investigations of Model free Sliding Mode Control Algorithms Including Application to Autonomous Quadrotor Flight written by Eric Schulken and published by . This book was released on 2017 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Sliding mode control is a robust nonlinear control algorithm that has been used to implement tracking controllers for unmanned aircraft systems that are robust to modeling uncertainty and exogenous disturbances, thereby providing excellent performance for autonomous operation. A significant advance in the application of sliding mode control for unmanned aircraft systems would be adaptation of a model-free sliding mode control algorithm, since the most complex and time-consuming aspect of implementation of sliding mode control is the derivation of the control law with incorporation of the system model, a process required to be performed for each individual application of sliding mode control. The performance of four different model-free sliding mode control algorithms was compared in simulation using a variety of aerial system models and real-world disturbances (e.g. the effects of discretization and state estimation). The two best performing algorithms were shown to exhibit very similar behavior. These two algorithms were implemented on a quadrotor (both in simulation and using real-world hardware) and the performance was compared to a traditional PID-based controller using the same state estimation algorithm and control setup. Simulation results show the model-free sliding mode control algorithms exhibit similar performance to PID controllers without the tedious tuning process. Comparison between the two model-free sliding mode control algorithms showed very similar performance as measured by the quadratic means of tracking errors. Flight testing showed that while a model-free sliding mode control algorithm is capable of controlling realworld hardware, further characterization and significant improvements are required before it is a viable alternative to conventional control algorithms. Large tracking errors were observed for both the model-free sliding mode control and PID based flight controllers and the performance was characterized as unacceptable for most applications. The poor performance of both controllers suggests tracking errors could be attributed to errors in state estimation, which effectively introduce unknown dynamics into the feedback loop. Further testing with improved state estimation would allow for more conclusions to be drawn about the performance characteristics of the model-free sliding mode control algorithms."--Abstract.

Download or read book Aerial Manipulation written by Matko Orsag and published by Springer. This book was released on 2017-09-19 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.

Download or read book A Model free Control Algorithm Based on the Sliding Mode Control Method with Applications to Unmanned Aircraft Systems written by Adarsh Raj Kadungoth Sreeraj and published by . This book was released on 2019 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Control methods require the use of a system model for the design and tuning of the controllers in meeting and/or exceeding the control system performance objectives. However, system models contain errors and uncertainties that also may be complex to develop and to generalize for a large class of systems such as those for unmanned aircraft systems. In particular, the sliding control method is a superior robust nonlinear control approach due to the direct handling of nonlinearities and uncertainties that can be used in tracking problems for unmanned aircraft system. However, the derivation of the sliding mode control law is tedious since a unique and distinct control law needs to be derived for every individual system and cannot be applied to general systems that may encompass all classifications of unmanned aircraft systems. In this work, a model-free control algorithm based on the sliding mode control method is developed and generalized for all classes of unmanned aircraft systems used in robust tracking control applications. The model-free control algorithm is derived with knowledge of the system’s order, state measurements, and control input gain matrix shape and bounds and is not dependent on a mathematical system model. The derived control law is tested using a high-fidelity simulation of a quadrotor-type unmanned aircraft system and the results are compared to a traditional linear controller for tracking performance and power consumption. Realistic type hardware inputs from joysticks and inertial measurement units were simulated for the analysis. Finally, the model-free control algorithm was implemented on a quadrotor-type unmanned aircraft system testbed used in real flight experimental testing. The experimental tracking performance and power consumption was analyzed and compared to a traditional linear-type controller. Results showed that the model-free approach is superior in tracking performance and power consumption compared to traditional linear-type control strategies."--Abstract.

Download or read book Autopilot Design and Commercial Autopilot Evaluation Using Flybarless Helicopter written by Ahmad Alshoubaki and published by . This book was released on 2014 with total page 89 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In its effort to develop unmanned autonomous systems research capabilities, the College of Engineering is adding a rotary wing UAV to its research activities. The current thesis goal is to use the Maxi Joker 3 commercially-off-the-shelf (COTS) electric RC helicopter as a platform and fit it with a commercial autopilot system to serve as a benchmark for future AUS rotary wing in-house autopilot development. To achieve this goal, the thesis develops the helicopter flight simulator with added hardware-in-the-loop simulation capabilities to aid the rapid prototyping of flight control laws and the guidance algorithms. Rigorous flight dynamics simulation model was implemented with Matlab/Simulink environment. Hardware-in-the-loop simulation was carried out using the freescale MPC555 32 bits microcontroller based autopilot hardware developed in house. Flight tests data was used to refine the dynamics models and improve the simulation. The thesis developed autopilot for aircraft attitude control for hover flight conditions. The control lows are based on PID successive loop closure architecture using the linearized helicopter model. The tuned gains were simulated using the nonlinear model. The in house autopilot hardware-in-the- loop- simulation showed promising results compared with flight test data collected with the Micropilot commercial autopilot test results. Later, the in house autopilot was fitted to the MaxiJocker 3 aircraft for flight test evaluation. Limited flight test data showed excellent results compared with the Micropilot commercial autopilot test results."--Abstract.

Download or read book Hovering System for Quad rotor Autonomus Helicopter written by Mohd Nor Auzi Daud and published by . This book was released on 2010 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Unmanned Helicopter (UH) is basically exist based on the conventional helicopter where helicopter here it means an aircraft which is lifted and propelled by one or more horizontal rotors each of two or more rotor blades it may . The main purpose of designing this system is to develop a hovering system for an Autonomous Unmanned Helicopter (UH) with quad rotors. This project consists of developing quad rotor helicopter system equipped with autonomous system. The other purpose of this project is to develop a control system using PIC microcontroller and apply theoretical of control system theory to maintain and stabilize autonomous helicopter hovering at a desired altitude. The project focuses on developing the flight hardware and software for data collection and further study on autonomous helicopter. It is expected that the quad rotor helicopter able to hover at a desired altitude once the system is set to operate.

Download or read book Autonomous Landing of Lightweight Helicopters on Moving Platforms Such as Ships written by Bilal Ahmed Arain and published by . This book was released on 2009 with total page 396 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a novel position for rotary wing unmanned aerial vehicles (RUAVs) using a nonlinear control design technique called backstepping. The novelty of the research work is in extension of the backstepping approach to a class of underactuated mechanical systems like RUAV with significant flapping dynamics. The innovation in this research is in providing a correction dynamics by measuring the flapping angles. The work is experimentally tested in successful flight tests of RUAV. A higher-order RUAV model, including the rotor flap and the servo dynamics, is presented and validated using experimental flight data. The RUAV model presented in this thesis is suitable for designing an Automatic Flight Control System (AFCS) of an RUAV. The nonlinear RUAV model is parameterized in such a way that most parameters are obtained from the linearized model by performing linear system identification about a few selected points. This identification process gives complete servo dynamics, geometric and inertial parameters, and velocity derivatives. The identified parameters of an RUAV model are verified using experimental flight data and are used to obtain its nonlinear model. The identified model is used to design a backstepping-based controller and its performance is tested using autonomous flight experimental results.

Download or read book Design of a PID Controller for Hover Flight of an Autonomous Model scale Helicopter written by Say Boon Foo and published by . This book was released on 2006 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Unmanned Rotorcraft Systems written by Guowei Cai and published by Springer Science & Business Media. This book was released on 2011-06-01 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.

Download or read book Sliding Mode Control of an Unmanned Air vehicle System written by Jayakrishna Vanaparthy and published by . This book was released on 2003 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this study is to design a controller that is stable under varying conditions of system parameters from the trim conditions and also robust for parametric variation for an Unmanned Air Vehicle (UAV) System. The PID and Sliding Mode Controller are the control models for the UAV system that are studied, designed and analyzed.

Download or read book Path Following Controller Design Using Sliding Mode Control Theory written by Oğuz Hasan Dağcı and published by . This book was released on 2002 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Development of an Effective System Identification and Control Capability for Quad copter UAVs written by Wei Wei and published by . This book was released on 2015 with total page 152 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, with the promise of extensive commercial applications, the popularity of Unmanned Aerial Vehicles (UAVs) has dramatically increased as witnessed by publications and mushrooming research and educational programs. Over the years, multi-copter aircraft have been chosen as a viable configuration for small-scale VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Compared to the single main rotor configuration such as the conventional helicopter, multi-copter airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, such as quad-copter which is the main emphasis in this dissertation, a rugged and competitive candidate for many applications in both military and civil areas. Because of its configuration and relative size, the small-scale quad-copter UAV system is inherently very unstable. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quad-copter is imperative. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and is imperative for future commercial applications. In this work, the dynamic model of a quad-copter system in hover flight was identified using frequency-domain system identification techniques. A new and unique experimental system, data acquisition and processing procedure was developed catering specifically to the class of electric powered multi-copter UAV systems. The Comprehensive Identification from FrEquency Responses (CIFER®) software package, developed by US Army Aviation Development Directorate - AFDD, was utilized along with flight tests to develop dynamic models of the quad-copter system. A new set of flight tests were conducted and the predictive capability of the dynamic models were successfully validated. A PID controller and two fuzzy logic controllers were developed based on the validated dynamic models. The controller performances were evaluated and compared in both simulation environment and flight testing. Flight controllers were optimized to comply with US Aeronautical Design Standard Performance Specification Handling Quality Requirements for Military Rotorcraft (ADS-33E-PRF). Results showed a substantial improvement for developed controllers when compared to the nominal controllers based on hand tuning. The scope of this research involves experimental system hardware and software development, flight instrumentation, flight testing, dynamics modeling, system identification, dynamic model validation, control system modeling using PID and fuzzy logic, analysis of handling qualities, flight control optimization and validation. Both closed-loop and open-loop dynamics of the quad-copter system were analyzed. A cost-effective and high quality system identification procedure was applied and results proved in simulations as well as in flight tests.