Download or read book Robust Tracking of Dynamic Targets with Aerial Vehicles Using Quaternion based Techniques written by Hernán Abaunza Gonzalez and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of this thesis work is to design control and navigation algorithms for tracking of dynamic ground targets using aerial vehicles. Quaternions, which provide an alternative to the classical representations of aerial vehicle dynamics, have been chosen as a basement to develop robust controllers and agile navigation algorithm, due to their advantages such as the absence of singularities and discontinuities and their mathematical simplicity when handling rotations. The quaternion-based control approaches explored in this thesis range from state feedback, passivity, and energy-based controllers, up to sliding modes, and three-dimensional saturation approaches. Then, autonomous and semi-autonomous navigation strategies for quadrotors were explored. An algorithm has been developed for controlling a quadrotor using gestures from a user wearing an armband. To facilitate the operation of multirotors in adverse scenarios, an aggressive deployment strategy has been proposed where a quadrotor is launched by hand With its motors turned off. Finally, autonomous navigation techniques for tracking dynamic targets have been designed. A trajectory generation algorithm based on differential equations has been introduced to track a land vehicle while describing circles. Finally a distributed path planning algorithm has been developed for a fleet of drones to autonomously track ground targets by solving an online optimization problem.
Download or read book Pan African Conference on Artificial Intelligence written by Taye Girma Debelee and published by Springer Nature. This book was released on with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Finite Time and Cooperative Control of Flight Vehicles written by Yuanqing Xia and published by Springer. This book was released on 2018-07-02 with total page 409 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the finite-time control of attitude stabilization, attitude tracking for individual spacecraft, and finite-time control of attitude synchronization. It discusses formation reconfiguration for multiple spacecraft in complex networks, and provides a new fast nonsingular terminal sliding mode surface (FNTSMS). Further, it presents newly designed controllers and several control laws to enhance the performance of spacecraft systems and meet related demands, such as strong disturbance rejection and high-precision control. As such, the book establishes a fundamental framework for these topics, while also highlighting the importance of integrated analysis. It is a useful resource for all researchers and students who are interested in this field, as well as engineers whose work involves designing flight vehicles.
Download or read book Robust Trajectory Optimization and Control of a Dynamic Soaring Unmanned Aerial Vehicle written by Tristan Charles Flanzer and published by . This book was released on 2012 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A robust trajectory optimization method is formulated using a stochastic collocation based approach and is then applied to the design of periodic dynamic soaring trajectories for unmanned aerial vehicles (UAVs). Repetitive control is proposed and evaluated as a means for reducing tracking error for UAVs flying periodic trajectories both in simulation and experimentally. Experiments conducted in an indoor flying laboratory outfitted with a VICON motion capture system demonstrate significant reductions in tracking error even in the presence of large and unknown disturbances.
Download or read book Journal of Guidance Control and Dynamics written by and published by . This book was released on 2009 with total page 954 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book NASA SP written by and published by . This book was released on 1991 with total page 440 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book International Aerospace Abstracts written by and published by . This book was released on 1998 with total page 980 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Internet of Things written by Arun Kumar Rana and published by CRC Press. This book was released on 2021-10-19 with total page 243 pages. Available in PDF, EPUB and Kindle. Book excerpt: Internet of things (IoT) is the connection and communication of physical objects (smart devices) over the internet. In this recent age, people’s daily lives are dependent on the internet through their smartphones, tablets, Smart TVs, micro-controllers, Smart Tags, computers, laptops, and cars to name a few. This book discusses different ways to create a better IoT network and/or IoT platforms to improve the efficiency and quality of these products and subsequently their users' lives. In addition, this book provides future research directions in energy, industry, and healthcare, and explores the different applications of IoT and its associated technologies. It provides an overview and explanation of the software architecture, middleware, data processing and data management as well as security, sensors, actuators and algorithms used to create a working IoT platform. The editors then go on to examine IoT networks and platforms as they relate to energy industry including, energy efficiency and management, intelligent energy management, smart energy through blockchain and energy-efficient/aware routing/scheduling challenges and issues. They then explore IoT as it applies to healthcare including biomedical image and signal analysis and disease prediction and diagnosis. Finally the editors examine the prospects and applications of IoT for industry through the concepts of smart industry, including architecture, blockchain, and Industry 4.0. This book is intended for senior undergraduate and graduate students, researchers and industry professionals working on IoT applications and infrastructure. Reviews IoT software architecture and middleware, data processing and management, security, privacy and reliability, architectures, protocols, technologies, algorithms, and smart objects, sensors, and actuators Explores IoT as it applies to energy, including energy efficiency and management, intelligent energy management, smart energy through blockchain and energy-efficient/aware routing/scheduling challenges and issues Examines IoT as it applies to healthcare including biomedical image and signal analysis, and disease prediction and diagnosis Examines IoT as it applies to smart industry including architecture, blockchain, and Industry 4.0 Discusses different ways to create a better IoT network or IoT platform
Download or read book Applied Mechanics Reviews written by and published by . This book was released on 1991 with total page 1380 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Aeronautical Engineering written by and published by . This book was released on 1991 with total page 1112 pages. Available in PDF, EPUB and Kindle. Book excerpt: A selection of annotated references to unclassified reports and journal articles that were introduced into the NASA scientific and technical information system and announced in Scientific and technical aerospace reports (STAR) and International aerospace abstracts (IAA).
Download or read book Modelling and Control of Mini Flying Machines written by Pedro Castillo Garcia and published by Springer Science & Business Media. This book was released on 2005-12-08 with total page 260 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft: • Planar Vertical Take-off and Landing aircraft; • helicopters; • quadrotor mini-rotorcraft; • other fixed-wing aircraft; • blimps. For each of these it propounds: • detailed models derived from Euler-Lagrange methods; • appropriate nonlinear control strategies and convergence properties; • real-time experimental comparisons of the performance of control algorithms; • review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; • detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.
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 Large Space Structures Systems in the Space Station Era written by and published by . This book was released on 1993 with total page 368 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Monocular Model based 3D Tracking of Rigid Objects written by Vincent Lepetit and published by Now Publishers Inc. This book was released on 2005 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: Monocular Model-Based 3D Tracking of Rigid Objects reviews the different techniques and approaches that have been developed by industry and research.
Download or read book Large Space Structures Systems in the Space Station Era written by and published by . This book was released on 1993 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 836 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book State Estimation for Robotics written by Timothy D. Barfoot and published by Cambridge University Press. This book was released on 2017-07-31 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: A modern look at state estimation, targeted at students and practitioners of robotics, with emphasis on three-dimensional applications.
