Download or read book Dynamic Modeling and Control of a Quadrotor Using Linear and Nonlinear Approaches written by Heba talla Mohamed Nabil Elkholy and published by . This book was released on 2014 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Dynamic Modeling and Robust Nonlinear Control of Unmanned Quadrotor Vehicle written by Amr Mohamed Elhennawy and published by . This book was released on 2018 with total page 238 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Unmanned Aerial Vehicles Breakthroughs in Research and Practice written by Management Association, Information Resources and published by IGI Global. This book was released on 2019-05-03 with total page 581 pages. Available in PDF, EPUB and Kindle. Book excerpt: First used in military applications, unmanned aerial vehicles are becoming an integral aspect of modern society and are expanding into the commercial, scientific, recreational, agricultural, and surveillance sectors. With the increasing use of these drones by government officials, business professionals, and civilians, more research is needed to understand their complexity both in design and function. Unmanned Aerial Vehicles: Breakthroughs in Research and Practice is a critical source of academic knowledge on the design, construction, and maintenance of drones, as well as their applications across all aspects of society. Highlighting a range of pertinent topics such as intelligent systems, artificial intelligence, and situation awareness, this publication is an ideal reference source for military consultants, military personnel, business professionals, operation managers, surveillance companies, agriculturalists, policymakers, government officials, law enforcement, IT professionals, academicians, researchers, and graduate-level students.

Download or read book Proceedings of International Conference on Emerging Technologies and Intelligent Systems written by Mostafa Al-Emran and published by Springer Nature. This book was released on 2021-12-02 with total page 1024 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book sheds light on the emerging research trends in intelligent systems and their applications. It mainly focuses on four different themes, including Artificial Intelligence and Soft Computing, Information Security and Networking, Medical Informatics, and Advances in Information Systems. Each chapter contributes to the aforementioned themes by discussing the recent design, developments, and modifications of intelligent systems and their applications.

Download or read book Proceedings of the First Mandalika International Multi Conference on Science and Engineering 2022 MIMSE 2022 Mechanical and Electrical written by Sugiman Sugiman and published by Springer Nature. This book was released on 2023-02-10 with total page 365 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is an open access book. The covid-19 pandemic today forces humans to do almost all activities from home. Consequently, inventions in many fields of engineering technology are needed to facilitate those activities. First, human activities mainly are based on information technology today and internet connection is very important. People generate, send, and receive data by their smartphones every time and everything is connected to the internet. Equipment becomes smarter to assist the owner. Second, People need powerful, efficient, and smart vehicles and machines in Industry 4.0. Third, the need for energy increases, which causes the decrease of global environmental quality. It needs new technology for saving energy by discovering new technologies in mechanical engineering. Fourth, many technologies emerge as disaster prevention by developing innovations in civil engineering and architecture. The Engineering Faculty of University of Mataram invites engineers and researchers around the world to visit Lombok island and to attend the valuable multi fields conference on science and engineering named “The First Mandalika International Multi-conference on Science and Engineering 2022′′ or “1st MIMSE 2022”. This fruitful event will be the annual conference in Lombok island which is supported by the West Nusa Tenggara Province government. Initially, the 1st MIMSE 2022 consisted of 5 engineering fields are Civil, Architecture, Electrical, Mechanical, and Informatics Engineering.

Download or read book Computational Science and Its Applications ICCSA 2020 written by Osvaldo Gervasi and published by Springer Nature. This book was released on 2020-09-30 with total page 1091 pages. Available in PDF, EPUB and Kindle. Book excerpt: The seven volumes LNCS 12249-12255 constitute the refereed proceedings of the 20th International Conference on Computational Science and Its Applications, ICCSA 2020, held in Cagliari, Italy, in July 2020. Due to COVID-19 pandemic the conference was organized in an online event. Computational Science is the main pillar of most of the present research, industrial and commercial applications, and plays a unique role in exploiting ICT innovative technologies. The 466 full papers and 32 short papers presented were carefully reviewed and selected from 1450 submissions. Apart from the general track, ICCSA 2020 also include 52 workshops, in various areas of computational sciences, ranging from computational science technologies, to specific areas of computational sciences, such as software engineering, security, machine learning and artificial intelligence, blockchain technologies, and of applications in many fields.

Download or read book Dynamic Modeling Fuzzy Control and Stabilization of Quadrotor Vehicle written by Mohamed Elkhatib and published by . This book was released on 2017-01-26 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Intelligent Human Computer Interaction written by Uma Shanker Tiwary and published by Springer Nature. This book was released on 2020-04-11 with total page 302 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume constitutes the proceedings of the 11th International Conference on Intelligent Human Computer Interaction, IHCI 2019, held in Allahabad, India, in December 2019. The 25 full papers presented in this volume were carefully reviewed and selected from 73 submissions. The papers are grouped in the following topics: EEG and other biological signal based interactions; natural language, speech and dialogue processing; vision based interactions; assistive living and rehabilitation; and applications of HCI.

Download or read book Modeling and Control of a Quadrotor with Dynamic Inertia written by Jared D. A. Becker and published by . This book was released on 2013 with total page 82 pages. Available in PDF, EPUB and Kindle. Book excerpt: As the support and technology for unmanned vehicles has increased, so have the possible applications for Unmanned Aerial Vehicles (UAVs). From military intelligence gathering missions, to civilian search and rescue missions, the demand for highly capable UAVs is high. Drawing inspiration from biological examples such as the hawkmoth, this research investigates the use of dynamic inertia as a control mechanism for small quadrotor helicopters. Using Lagrangian mechanics, a nonlinear 3D model and a nonlinear 2D model are developed for a quadrotor with dynamic inertia modeled as an actuated pendulum mounted beneath the vehicle. Designing a linear quadratic controller for a linearization of the system about the hovering flight condition and applying this controller to the nonlinear model results in a stabilizing dynamic inertia controller capable of adequate trajectory tracking for a simple desired trajectory. Additional simulations also show that the linear controller has favorable robustness properties to compensate for modeling errors and nonlinearities.

Download or read book Stability and Control Processes written by Nikolay Smirnov and published by Springer Nature. This book was released on 2022-03-15 with total page 886 pages. Available in PDF, EPUB and Kindle. Book excerpt: The proceedings of the 4th Stability and Control Processes Conference are focused on modern applied mathematics, stability theory, and control processes. The conference was held in recognition of the 90th birthday of Professor Vladimir Ivanovich Zubov (1930–2000). This selection of papers reflects the wide-ranging nature of V. I. Zubov’s work, which included contributions to the development of the qualitative theory of differential equations, the theory of rigid body motion, optimal control theory, and the theory of electromagnetic fields. It helps to advance many aspects of the theory of control systems, including questions of motion stability, nonlinear oscillations in control systems, navigation and reliability of control devices, vibration theory, and quantization of orbits. The disparate applications covered by the book – in mechanical systems, game theory, solid-state physics, socio-economic systems and medical and biological systems, control automata and navigation – are developments from Professor Zubov’s in-depth studies on the theory of stability of motion, the theory of automatic control and the theory of the motions of optimal processes. Stability and Control Processes presents research continuing the legacy of V. I. Zubov and updates it with sections focused on intelligence-based control. These proceedings will be of interest to academics, professionals working in industry and researchers alike.

Download or read book Future Network Systems and Security written by Robin Doss and published by Springer. This book was released on 2018-06-26 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Future Network Systems and Security, FNSS 2018, held in Paris, France, in July 2018. The 14 full papers and two short papers presented were carefully reviewed and selected from 39 submissions. The papers are organized in topical sections on secure design and verication; security, privacy and ethics; big data and applications of future network systems.

Download or read book Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems written by Bekkay Hajji and published by Springer Nature. This book was released on 2020-08-14 with total page 858 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Download or read book Proceedings of the 11th International Conference on Robotics Vision Signal Processing and Power Applications written by Nor Muzlifah Mahyuddin and published by Springer Nature. This book was released on 2022-02-11 with total page 1124 pages. Available in PDF, EPUB and Kindle. Book excerpt: The proceeding is a collection of research papers presented at the 11th International Conference on Robotics, Vision, Signal Processing & Power Applications (RoViSP 2021). The theme of RoViSP 2021 “Enhancing Research and Innovation through the Fourth Industrial Revolution (IR 4.0)” served as a platform for researchers, scientists, engineers, academicians as well as industrial professionals from all around the globe to present and exchange their research findings and development activities through oral presentations. The book covers various topics of interest, including: Robotics, Control, Mechatronics and Automation Telecommunication Systems and Applications Electronic Design and Applications Vision, Image and Signal Processing Electrical Power, Energy and Industrial Applications Computer and Information Technology Biomedical Engineering and Applications Intelligent Systems Internet-of-things Mechatronics Mobile Technology

Download or read book Modelling and Control of a Quadrotor written by Àlex Martín Alay and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this project is to model and control a quadrotor. The project starts introducing the quadrotor and its parts. After that, the project provides the modelling of the dynamics of the quadrotor using the Lagrange-Euler and the Newton-Euler's approaches. The next part focuses in the design of a controller for the main actions of the quadrotor using the equations of the dynamics. The chosen controller is a PD, for its simplicity and acceptable performance. With the controller designed, the aircraft was tested to verify the simplifications made on the controller. To that, first some simulations using Simulink (Matlab) were done. After that, further experiments were done with the real quadrotor. The good results of the simulations justified the validity of the simplifications and the controller. Furthermore, although it was necessary to add other PD to the previous one, forming a cascaded PID controller, the results of the real experiments were acceptable. Finally, the project contains the explanation and application of a method to optimize the parameters of the controller, and to find the real values of parameters of the model dificult to measure directly, as the inertia.

Download or read book Advanced Sliding Mode Control for Mechanical Systems written by Jinkun Liu and published by Springer Science & Business Media. This book was released on 2012-09-07 with total page 367 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation" takes readers through the basic concepts, covering the most recent research in sliding mode control. The book is written from the perspective of practical engineering and examines numerous classical sliding mode controllers, including continuous time sliding mode control, discrete time sliding mode control, fuzzy sliding mode control, neural sliding mode control, backstepping sliding mode control, dynamic sliding mode control, sliding mode control based on observer, terminal sliding mode control, sliding mode control for robot manipulators, and sliding mode control for aircraft. This book is intended for engineers and researchers working in the field of control. Dr. Jinkun Liu works at Beijing University of Aeronautics and Astronautics and Dr. Xinhua Wang works at the National University of Singapore.

Download or read book 2016 International Conference on Advanced Mechatronic Systems ICAMechS written by IEEE Staff and published by . This book was released on 2016-11-30 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The 2016 International Conference on Advanced Mechatronic Systems (ICAMechS 2016) will be held in Melbourne, Australia on Nov 30 Dec 3, 2016 This conference is sponsored by International Journal of Advanced Mechatronic Systems, Beijing Univ of Posts and Telecommunications, Tokyo University of Agriculture and Technology, IEEE Systems, Man, and Cybernetics Society, International Journal of Modelling, Identification and Control, The Institute of Complex Medical Engineering, and cooperation with The Society of Instrument and Control Engineers, and The Institute of Systems, Control and Information Engineers It provides an international forum for professionals, academics, and researchers to present latest developments from interdisciplinary theoretical studies, computational algorithm development and applications of mechatronic systems It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications in all mechatronic systems

Download or read book Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle written by Moussa Labbadi and published by Springer Nature. This book was released on 2021-09-14 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.