Download or read book Model free Control of an Unmanned Aircraft Quadcopter Type System written by Christian Monti and published by . This book was released on 2020 with total page 91 pages. Available in PDF, EPUB and Kindle. Book excerpt: "A model-free control algorithm based on the sliding mode control method for unmanned aircraft systems is proposed. The mathematical model of the dynamic system is not required to derive the sliding mode control law for this proposed method. The knowledge of the system’s order, state measurements and control input gain matrix shape and bounds are assumed to derive the control law to track the required trajectories. Lyapunov’s Stability criteria is used to ensure closed-loop asymptotic stability and the error estimate between previous control inputs is used to stabilize the system. A smoothing boundary layer is introduced into the system to eliminate the high frequency chattering of the control input and the higher order states. The [B] matrix used in the model-free algorithm based on the sliding mode control is derived for a quadcopter system. A simulation of a quadcopter is built in Simulink and the model-free control algorithm based on sliding mode control is implemented and a PID control law is used to compare the performance of the model-free control algorithm based off of the RMS (Root-Mean-Square) of the difference between the actual state and the desired state as well as average power usage. The model-free algorithm outperformed the PID controller in all simulations with the quadcopter’s original parameters, double the mass, double the moments of inertia, and double both the mass and the moments of inertia while keep both controllers exactly the same for each simulation."--Abstract.

Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Download or read book Introduction to Multicopter Design and Control written by Quan Quan and published by Springer. This book was released on 2017-06-23 with total page 393 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is the first textbook specially on multicopter systems in the world. It provides a comprehensive overview of multicopter systems, rather than focusing on a single method or technique. The fifteen chapters are divided into five parts, covering the topics of multicopter design, modeling, state estimation, control, and decision-making. It differs from other books in the field in three major respects: it is basic and practical, offering self-contained content and presenting hands-on methods; it is comprehensive and systematic; and it is timely. It is also closely related to the autopilot that users often employ today and provides insights into the code employed. As such, it offers a valuable resource for anyone interested in multicopters, including students, teachers, researchers, and engineers. This introductory text is a welcome addition to the literature on multicopter design and control, on which the author is an acknowledged authority. The book is directed to advanced undergraduate and beginning graduate students in aeronautical and control (or electrical) engineering, as well as to multicopter designers and hobbyists. ------- Professor W. Murray Wonham, University of Toronto "This is the single best introduction to multicopter control. Clear, comprehensive and progressing from basic principles to advanced techniques, it's a must read for anyone hoping to learn how to design flying robots." ------- Chris Anderson, 3D Robotics CEO.

Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area

Download or read book Robust Sliding Mode Protocols for Formation of Quadcopter Swarm written by Axaykumar Mehta and published by Springer Nature. This book was released on with total page 165 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book NASA Technical Memorandum written by and published by . This book was released on 1975 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Quadcopter written by Khaled Mahmoud Abouelsoud and published by . This book was released on 2017 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: A quadcopter is a type of unmanned aerial vehicles (UAV). The industry of this type of UAVs is growing exponentially in terms of new technology development and the increase of potential applications that may cover construction inspections, search and rescue, surveillance, aerial photography, monitoring, mapping, etc. A quadcopter is a nonlinear and under-actuated system that introduces complex aerodynamics properties and create challenges which demands the development of new, reliable and effective control techniques to enhance the stability of flight control, plan and track a desired trajectory while minimizing the effect induced by the operational environment and its own sensors. Hence, many control techniques have been developed and researched. Some of such developments work well with the provision of having an accurate mathematical model of the system while other work is associated with a mathematical mode l that can accommodate certain level of wind disturbances and uncertainties related to measurement noise. Moreover, various linear, nonlinear and intelligent control techniques were developed and recognized in the literature. Each one of such control TEchniques has some aspect that excels in under certain conditions. The focus of this thesis is to develop different control techniques that can improve flight control stability, trajectory tracking of a quadcopter and evaluate their performance to select the best suitable control technique that can realize the stated technical flight control requirements. Accordingly, three main techniques have been developed: Standard pid,Fuzzy based control technique that tune PID parameters in real time (FPID) and a hybrid control strategy that consists of three control techniques: (A) FPID with state coordinates transformation (B) State feedback (C) Sliding mode the configuration of the hybrid control strategy consists of two control loops. The inner control loop aims to control the quadcopter’s attitude and altitude while the outer control loopaims to control the quadcopter’s position. Two configurations were used to configure the developed control techniques of the control loops. These configurations are: (A) A sliding mode control is used for the outer loop while for the inner loop two control techniques are used to realize it: a Fuzzy gain scheduled PID with state coordinates transformation and a state feedback control. (B) Fuzzy gain scheduled PID control is used for the outer loop while for the inner loop two control techniques are used to realize it using the same formation as in (a) above. Furthermore, in order to ensure a feasible desired trajectory before tracking it, a trajectory planning algorithm has been developed and tested successfully. Subsequently, a simulation testing environment with friendly graphical User Interface (GUI) has been developed to simulate the quadcopter mathematical model and then to use it as a test bed to validate the developed control techniques with and without the effect of wind disturbance and measurement noise. The quadcopter with each control technique has been tested using the simulation environment under different operational conditions. The results in terms of tracking a desired trajectory shows the robustness of the first configuration of control techniques within the hybrid control strategy under the presence of wind disturbance and measurement noise compared to all the other techniques developed. Then, the second configuration of the control techniques came second in terms of results quality. The third and fourth results in the sequence shown by the fuzzy scheduled PID and the standard PID respectively. Finally, Validating the simulation results on a real system, a quadcopter has been successfully designed, implemented and tested. The developed control techniques were tested using the implemented quadcopter and the results were demonstrated and compared with the simulation results.

Download or read book World Unmanned Aircraft written by Kenneth Munson and published by . This book was released on 1988 with total page 230 pages. Available in PDF, EPUB and Kindle. Book excerpt: Beskriver kort den historiske og militære baggrund for anvendelsen af ubemandede fly og gennemgår de typer, der i 1988 var i anvendelse eller under udvikling.

Download or read book Drone Development from Concept to Flight written by Sumit Sharma and published by Packt Publishing Ltd. This book was released on 2024-04-30 with total page 316 pages. Available in PDF, EPUB and Kindle. Book excerpt: Learn and apply the principles behind building and flying drones using components like BLDC motors and speed controllers, AeroGCS ground software, Ardupilot and PX4 open-source flight stacksalong with examples and best practices Key Features Get to grips with multicopter physics (roll, pitch, and yaw) and 3D dynamics for defining a drone's flight Optimize drone performance with powerful propulsion systems such as BLDS motors, lipo batteries, and ESCs Build a custom survey drone to learn vital aspects of drone assembly, configuration, testing, and maiden flight Purchase of the print or Kindle book includes a free PDF eBook Book DescriptionUnlock opportunities in the growing UAV market where drones are revolutionizing diverse sectors like agriculture, surveying, and the military. Using the vast experience of the author in drone domain, this book provides step-by-step guidance through the complete drone development life cycle, from concept to pilot stage, prototyping, and ultimately, a market-ready product, with domain-specific applications. Starting with an introduction to unmanned systems, principles of drone flight, and it's motion in 3D space, this book shows you how to design a propulsion system tailored to your drone’s needs. You’ll then get hands on with the entire drone assembly process, covering airframe, components, and wiring. Next, you’ll enhance drone connectivity and navigation with communication devices, such as RFD900, Herelink, and H-16 Pro GCS and hardware protocols like I2C, and UART. The book also guides you in using the open-source flight software Ardupilot and PX4, along with firmware architecture and PID tuning for advanced control. Additionally, you’ll go learn about AeroGCS, Mission Planner, and UGCS ground control stations, tips for maiden flight and log analysis for optimizing performance while building a custom survey drone with a 60-min endurance, 10km range, live video feed, and photography options. By the end of this book, you’ll be equipped with all you need to build and fly your own drones and UAVs.What you will learn Explore the design principles for multicopter flight and its physics of motion Grasp terminologies associated with UAV flight systems Implement power trail, communication, and propulsion conceptsin drone design Use IMUs and sensors in flight controllers, and protocols like I2C, SPI, and MAvlink Familiarize yourself with open-source drone flight stacks and ground control station software Apply the control law used in multicopter and the basics of PIDs Delve into modes of flying with remote controllers and analysis of flight logs Who this book is for This book is for beginner-level drone engineers, robotics engineers, hardware and design engineers, and hobbyists who want to enter the drone industry and enhance their knowledge of the physics, mechanics, avionics, and programming of drones, multicopters, and UAVs. While not a prerequisite, a basic understanding of circuits, microcontrollers, and electronic instruments like multimeter, camera, and batteries, along with fundamental concepts in physics and mathematics, will be helpful.

Download or read book System Identification and Model based Control of Quadcopter UAVs written by Andrew P. Szabo and published by . This book was released on 2019 with total page 90 pages. Available in PDF, EPUB and Kindle. Book excerpt: As control systems become more sophisticated, more accurate system models are needed for control law design and simulation. In this research, a nonlinear dynamic model of a quadcopter UAV is presented and model parameters are estimated off-line using in-flight experimental data. In addition, a model-based classical control law for the quadcopter UAV is designed, simulated, and then deployed in UAV flight tests. The intent of this research is to identify a model which may be simple enough to easily use for control law design, and accurate enough for simulation. In addition, a model-based classical control law is designed to for flight control. The parameters of the nonlinear dynamic model are estimated with the Linear Least Squares Error method. In-flight disturbances are introduced in flight tests to ensure frequency rich data. The performances of different models are compared using validation flight test data to select an accurate model. This model is used as the simulation model and the design model. Model-based control law design techniques are used to create a flight control law which provides good performance both in the simulator, as well as when deployed to the quadcopter. To perform these tests, the Real-Time - Marseille Grenoble Project software is used for the creation of ground station programs and flight control algorithms in Simulink. This test environment integrates a VICON camera systems, QuaRC Real Time system, a 3DR APM 2.6 micro-controller unit, and a Gumstix Overo AirSTORM micro-controller unit to create a low-cost quadcopter research platform.

Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Download or read book Attitude Control of a Quadcopter Using Adaptive Control Technique written by Ramiro Ibarra Pérez and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter presents an adaptive control technique to stabilize the attitude dynamics of unmanned aerial vehicle (UAV) type quadrotor in the presence of disturbances and/or uncertainties in the parameters due to changes in the payload, nonlinear actuators, and change in environmental conditions. To address the above problem, MRAC (model reference adaptive control) strategy is used. In this schema, a cost function is defined as a function of the error between the output of the system and a desired response from a reference model. Based on this error, the controller parameters are updated. To guarantee the global asymptotic stability of the system, Lyapunov's theory is applied. Simulation results using MATLAB-Simulink platform are presented to demonstrate the convergence of the controller parameters.

Download or read book Model Free Optimal Control Approach for UAVs written by Aditya Deole and published by . This book was released on 2020 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis discusses use of model free control algorithms for application on an UAV. The work contrasts use of LQR based methods to conventional model free learning based on neural net approximators which do not provide guarantees of optimal solution. The model free control methods discussed here are based on discrete time linear systems with LQR based costs that have proven convergence to the optimal solution. We discuss Q-learning algorithm for LQR and a policy gradient methods with a variation. We see applications in simulations for a noisy measurement case with sub-optimal controller as well as a scenario where the dynamics of system has been altered due to disturbances or manipulation.

Download or read book Algorithms of Armageddon written by George Galdorisi and published by Naval Institute Press. This book was released on 2024-03-12 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is unclear if U.S. policy makers and military leaders fully realize that we have already been thrust into an artificial intelligence (AI) race with authoritarian powers. Today, the United States’ peer adversaries—China and Russia—have made clear their intentions to make major investments in AI and insert this technology into their military systems, sensors and weapons. Their goal is to gain an asymmetric advantage over the U.S. military. The implications for our national security are many and complex. Algorithms of Armageddon examines this most pressing security issue in a clear, insightful delivery by two experts. Authors George Galdorisi and Sam J. Tangredi are national security professionals who deal with AI on a day-to-day basis in their work in both the technical and policy arenas. Opening chapters explain the fundamentals of what constitutes big data, machine learning, and artificial intelligence. They investigate the convergence of AI with other technologies and how these systems will interact with humans. Critical to the issue is the manner by which AI is being developed and utilized by Russia and China. The central chapters of the work address the weaponizing of AI through interaction with other technologies, man-machine teaming, and autonomous weapons systems. The authors cover in depth debates surrounding the AI “genie out of the bottle” controversy, AI arms races, and the resulting impact on policy and the laws of war. Given that global powers are leading large-scale development of AI, it is likely that use of this technology will be global in extent. Will AI-enabled military weapons systems lead to full-scale global war? Can such a conflict be avoided? The later chapters of the work explore these questions, point to the possibility of humans failing to control military AI applications, and conclude that the dangers for the United States are real. Neither a protest against AI, nor a speculative work on how AI could replace humans, Algorithms of Armageddon provides a time-critical understanding of why AI is being implemented through state weaponization, the realities for the global power balance, and more importantly, U.S. national security. Galdorisi and Tangredi propose a national dialogue that focuses on the need for U.S. military to have access to the latest AI-enabled technology in order to provide security and prosperity to the American people.

Download or read book DIY Drone and Quadcopter Projects written by The Editors of Make: and published by Maker Media, Inc.. This book was released on 2016-04-22 with total page 218 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drones, quadcopters, Uncrewed Aerial Vehicles (UAVs): whatever they're called, remotely-controlled aircraft have changed the way we see the world, the way we manage crops, the way we sell real estate, and the way we make war. This book contains tutorials about how to understand what drones can do, and projects about how to make your own flying craft, from some of the earliest practitioners in the field.

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 558 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.