Download or read book Trajectory Generation for a Quadrotor Unmanned Aerial Vehicle written by Douglas Conover and published by . This book was released on 2018 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: The field of multirotor unmanned aerial vehicles (UAVs) has seen substantial progression in the past decade. Trajectory generation and control has been a main focus in this domain, with methods that enable the performance of complex three-dimensional maneuvers through space. Efforts have been made to execute these maneuvers using concepts of nonlinear control and differential flatness. However, a lack of theory for the estimation of higher-order dérivatives of a multirotor UAV has prevented the experimental application of several of these techniques concentrated on trajectory control. This work firstly explores the existing control approach of sequential composition for the execution of quadrotor manoeuvres through narrow windows. This technique involves the combination of several theoretically simple controllers in sequence in order to produce a complex result. Experimental results conducted in the Mobile Robotics and Automated Systems Laboratory (MRASL) at Polytechnique demonstrate the validity of this approach, producing precise and repeatable manoeuvres through narrow windows. However, they also show the limitations of such a method in real world applications, notably its initial inaccuracy and lack of feasibility evaluation. This thesis then focuses on the development of a state-estimation architecture based on linear Kalman filter techniques in order to provide a real-time value of a quadrotor UAV's second and third derivatives (referred to as acceleration and jerk, respectively). Filters of different complexities are developed with the goal of incorporating all available system information into the resulting estimate. A full-state estimator is produced that uses a quadrotor's position and acceleration measurements as well as control inputs in order to be usable for feedback. A jerk-augmented controller based off of optimal control theory is then developed in order to validate this estimator. It is designed in such a way to use the UAV's jerk, acceleration, velocity and position as design parameters and to be unstable without feedback in each of these terms. Tests are conducted in order to examine the performance of both the estimator and controller. Firstly, the quadrotor is commanded to track various reference inputs in 3D space to ensure its stability. The controller tracks these references very closely to simulated responses. The controller is then asked to follow a changing reference in order to evaluate the precision of the developed estimator. Results show that the real-time estimation of the jerk follows offline values adequately. To the best of our knowledge, this is the first application to implement the feedback of a multirotor UAV's jerk in real-world experimentation.

Download or read book Trajectory Generation and Tracking for Drone Racing written by Jonathan Jamieson and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis trajectory generation for quadrotors, a type of rotorcraft UAV (Unmanned Aerial Vehicle), is considered with two diverent methods. The first applies the Maximum Principle of optimal control to derive closed-form analytical functions that describe the translational states for two different cases of nonholonomic constraints. Parametric optimisation is used to find the trajectories. Reachable sets are found numerically and a simple obstacle avoidance method is demonstrated for both cases. The second motion planning method found trajectories with polynomial basis functions that are parametrised by an abstract function between zero and one. This virtual time domain trajectory satisfied conditions placed on the boundary derivatives and followed a sequenceof desired waypoints. A process for finding a mapping function that converts the virtual domain trajectory into one on the standard time domain is developed to minimise the trajectory time whilst ensuring the motion remained feasible by enforcing bounds on the thrust required from each rotor. An algorithm that uses additional waypoints where necessary to ensure the trajectory does not collide with the gates that define the course is developed. A method for minimising the accumulated angular acceleration of the heading angle whilst remaining within a desired tolerance of the velocity vector angle is also described. Trajectory tracking is considered by modifying an existing quadrotor tracking controller on the Special Euclidean group SE(3) to include a Linear Extended State Observer that estimates and counteracts translational disturbances. The modified controller is shown to reduce the position tracking error in the presence of square wave, sinusoidal and wind disturbances.

Download or read book Trajectory Generation and Controller Design for a Quadrotor slung Load System written by Sean Fielding and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned aerial vehicles (UAVs), in particular quadrotors, have received increased interest recently for a variety of applications including aerial photography and payload transportation. Unlike fixed wing aircraft, quadrotors are well suited to flying in crowded urban environments due to their ability to hover as well as takeoff and land vertically. These drones are inherently difficult to fly though and typically require skilled pilots or assistive controllers. This presents significant barriers for companies looking to use quadrotors for novel applications. In response to this limitation, there has been a significant focus on developing flight controllers and flight trajectory generators to enable autonomous operation of quadrotor drones.While aerial photography applications are already well established for quadrotors, autonomous payload delivery presents an ongoing challenge. Currently, parcel delivery with quadrotors typically requires mounting a rigid container to the underside of the vehicle and filling this container with items. This configuration limits the size and shape of objects that can be transported, adds weight to the vehicle and adversely affects its attitude dynamics. A compelling alternative, inspired from military helicopters, is to suspend the payload from the underside of the quadrotor via one or more cables. Doing so saves weight and significantly reduces the impact that the payload has on the vehicle's attitude dynamics. The resulting quadrotor-slung load system also offers versatility in terms of the size and shape of payload that can be transportedThe deployment of autonomous quadrotor-slung load systems presents numerous challenges though. A slung load will inherently tend to swing underneath the drone when acted upon by external disturbances like wind gusts. This can lead to instability in the system and potentially cause the drone to crash. It is thus critical to develop robust flight controllers for quadrotor-slung load systems that can autonomously track prescribed delivery routes while suppressing the swinging motion of the payload. Significant swinging motion can also be induced in the slung load as a result of the flight trajectory of the quadrotor drone. We should thus specifically design flight trajectories that help to prevent swinging motion from being induced.At its core, this thesis seeks to develop techniques to both prevent and actively suppress swinging motion for an autonomous slung load system. In the following chapters we begin by exploring how quadrotor flight trajectories affect the swinging motion of a slung payload. In particular we focus on the technique of input shaping desired flight trajectories to help prevent induced payload swinging. We demonstrate how this concept can be extended to non-rest to rest flight trajectories and develop a computationally simple algorithm for generating these flight trajectories onboard a quadrotor as it flies. We next develop a flight controller to enable an autonomous quadrotor-slung load system to track these prescribed input-shaped flight trajectories. We explore existing designs for such controllers and develop a novel approach that distinguishes between swinging motion caused by tracking a prescribed flight trajectory and that caused by external disturbances. We demonstrate in simulation how this proposed controller is able to manage swinging disturbances while tracking an input-shaped flight trajectory better than two baseline controller designs. We later demonstrate how the underlying concepts behind this controller can be used to develop a model predictive controller for tracking input-shaped trajectories with a quadrotor-slung load system. We also discuss the implementation of the proposed trajectory generator and controller onto an actual quadrotor drone and some of the challenges faced during this process. We conclude by making recommendations for future work for this project"--

Download or read book Trajectory Generation and Constrained Control of Quadrotors written by Carlos Alberto Tule and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems, although still in early development, are expected to grow in both the military and civil sectors. As part of the UAV sector, the Quadrotor helicopter platform has been receiving a lot of interest from various academic and research institutions because of their simplistic design and low cost to manufacture, yet remaining a challenging platform to control. Four different controllers were derived for the trajectory generation and constrained control of a quadrotor platform. The first approach involves the linear version of the Model predictive Control (MPC) algorithm to solve the state constrained optimization problem. The second appraoch uses the State Dependent Coefficient (SDC) form to capture the system non linearities into a pseudo-linear system matrix, which is used to derive the State Dependent Riccati Equation (SDRE) based optimal control. For the third approach, the SDC form is exploited for obtaining a nonlinear equivalent of the model predictive control. Lastly, a combination of the nonlinear MPC and SDRE optimal control algorithms is used to explor the feasibility of a near real-time nonlinear optimization technique.

Download or read book Sense and Avoid in UAS written by Plamen Angelov and published by John Wiley & Sons. This book was released on 2012-04-30 with total page 381 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is increasing interest in the potential of UAV (Unmanned Aerial Vehicle) and MAV (Micro Air Vehicle) technology and their wide ranging applications including defence missions, reconnaissance and surveillance, border patrol, disaster zone assessment and atmospheric research. High investment levels from the military sector globally is driving research and development and increasing the viability of autonomous platforms as replacements for the remotely piloted vehicles more commonly in use. UAV/UAS pose a number of new challenges, with the autonomy and in particular collision avoidance, detect and avoid, or sense and avoid, as the most challenging one, involving both regulatory and technical issues. Sense and Avoid in UAS: Research and Applications covers the problem of detect, sense and avoid in UAS (Unmanned Aircraft Systems) in depth and combines the theoretical and application results by leading academics and researchers from industry and academia. Key features: Presents a holistic view of the sense and avoid problem in the wider application of autonomous systems Includes information on human factors, regulatory issues and navigation, control, aerodynamics and physics aspects of the sense and avoid problem in UAS Provides professional, scientific and reliable content that is easy to understand, and Includes contributions from leading engineers and researchers in the field Sense and Avoid in UAS: Research and Applications is an invaluable source of original and specialised information. It acts as a reference manual for practising engineers and advanced theoretical researchers and also forms a useful resource for younger engineers and postgraduate students. With its credible sources and thorough review process, Sense and Avoid in UAS: Research and Applications provides a reliable source of information in an area that is fast expanding but scarcely covered.

Download or read book Missile Guidance and Control Systems written by George M. Siouris and published by Springer Science & Business Media. This book was released on 2006-05-07 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: Airborne Vehicle Guidance and Control Systems is a broad and wide- angled engineering and technological area for research, and continues to be important not only in military defense systems but also in industrial process control and in commercial transportation networks such as various Global Positioning Systems (GPS). The book fills a long-standing gap in the literature. The author is retired from the Air Force Institute and received the Air Force's Outstanding Civilian Career Service Award.

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.

Download or read book Towards Autonomy of a Quadrotor UAV written by Ian Cowling and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: As the potential of unmanned aerial vehicles rapidly increases, there is a growing interestin rotary vehicles as well as fixed wing. The quadrotor is small agile rotary vehicle controlledby variable speed prop rotors. With no need for a swash plate the vehicle is lowcost as well as dynamically simple. In order to achieve autonomous flight, any potential control algorithm must include trajectorygeneration and trajectory following. Trajectory generation can be done using director indirect methods. Indirect methods provide an optimal solution but are hard to solvefor anything other than the simplest of cases. Direct methods in comparison are oftensub-optimal but can be applied to a wider range of problems. Trajectory optimizationis typically performed within the control space, however, by posing the problem in theoutput space, the problem can be simplified. Differential flatness is a property of somedynamical systems which allows dynamic inversion and hence, output space optimization. Trajectory following can be achieved through any number of linear control techniques, this is demonstrated whereby a single trajectory is followed using LQR, this scheme islimited however, as the vehicle is unable to adapt to environmental changes. Model basedpredictive control guarantees constraint satisfaction at every time step, this however istime consuming and therefore, a combined controller is proposed benefiting from theadaptable nature of MBPC and the robustness and simplicity of LQR control. There are numerous direct methods for trajectory optimization both in the output andcontrol space. Taranenko's direct method has a number of benefits over other techniques, including the use of a virtual argument, which separates the optimal path and the speedproblem. This enables the algorithm to solve the optimal time problem, the optimal fuelproblem or a combination of the two, without a deviation from the optimal path. In order to implement such a control scheme, the issues of feedback, communication andcontrol action computation, require consideration. This work discusses the issues withinstrumentation and communication encountered when developing the control system andprovides open loop test results. This work also extends the proposed control schemes to consider the problem of multiplevehicle flight rendezvous. Specifically the problem of rendezvous when there is no communicationlink, limited visibility and no agreed rendezvous point. Using Taranenko's direct method multiple vehicle rendezvous is simulated.

Download or read book Real Time Trajectory Generation for Autonomous Nonlinear Flight Systems written by and published by . This book was released on 2006 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicle and smart munition systems need robust, real-time path generation and guidance systems to avoid terrain obstructions, navigate in hazardous weather conditions, and react to mobile threats such as radar, jammers, and unfriendly aircraft. In Phase 1 of this STTR project, real-time path planning and trajectory generation techniques for two dimensional flight were developed and demonstrated in software simulation. In Phase 2 these algorithms were refined, extended and were demonstrated in flight on a unique low-cost micro-air vehicle with a payload which included three optical flow sensors, a laser ranger, and a video camera. This report is a comprehensive technical summary of the significant work completed in Phase 2 to enable development of autonomous flight control systems which are capable of accomplishing the complex task of path and trajectory planning in dynamic and uncertain environments.

Download or read book Advanced Four dimensional Trajectory Generation for Tactical Guidance of Unmanned Aerial Vehicles written by and published by . This book was released on 2020 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: UAV -- Navigation -- B_ezier Spline -- Kinodynamic -- Trajectory Generation -- Motion Planning -- Pythagorean Hodograph (PH) curve.

Download or read book Hybridized Trajectory Generation and Many objectives Optimization for Multi agent Quadrotor UAVs written by Premeela Tharumanathan and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Quadrotor Unmanned Aerial Vehicles written by Manuel Arturo Rend√≥n Maldonado and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quadrotor control is an exciting research area. Despite last years developments, some aspects demand a deeper analysis: How a quadrotor operates in challenging trajectories, how to define trajectory limits, or how changing physical characteristics of the device affects the performance. A visual interface development platform is a valuable tool to support this effort, and one of these tools is briefly described in this Chapter. The quadrotor model uses Newton-Euler equations with Euler angles, and considers the effect of air drag and propellers,Äô speed dynamics, as well as measurement noise and limits for propeller speeds. The tool is able to test any device just by setting a few parameters. A three-dimensional optimal trajectory defined by a set of waypoints and corresponding times, is calculated with the help of a Minimum Snap Trajectory planning algorithm. Small Angle Control, Desired Thrust Vector (DTV) Control and Geometric Tracking Control are the available strategies in the tool for quadrotor attitude and trajectory following control. The control gains are calculated using Particle Swarm Optimization. Root Mean Square (RMS) error and Basin of Attraction are employed for validation. The tool allows to choose the control strategy by visual evaluation on a graphical user interface (GUI), or analyzing the numerical results. The tool is modular and open to other control strategies, and is available in GitHub.

Download or read book Unmanned Aircraft Systems written by Ella Atkins and published by John Wiley & Sons. This book was released on 2017-01-17 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.

Download or read book Landing of a Quadrotor UAV Swarm in a Nonstationary Confined Compartment written by Rick Schieni and published by . This book was released on 2017 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) have emerged as an extraordinarily useful technology in both civilian and military applications. Recent efforts have focused on expanding the capabilities of individual UAVs to the application of multiple vehicle swarms to efficiently accomplish otherwise laborious and dangerous tasks. In this work, a trajectory generation method is presented to safely land the individuals of a UAV team on a moving vessel following the performance of a team mission. It is assumed that the landing vessel has a compartment dedicated to vehicle storage which restricts the final landing maneuver to a confined space. Trajectories are generated by solving a constrained optimization problem in a computationally efficient manner by exploiting the properties of Pythagorean Hodograph Bèzier curves. A case study is presented to demonstrate the efficacy of the proposed trajectory generator. The study examines the effectiveness of the method to create successful landing trajectories for the individuals of the UAV swarm. It is shown that the method creates collision-free trajectories for multiple vehicles as they attempt to land in a confined compartment on a moving target.

Download or read book Autonomous Take off and Landing for a Fixed Wing UAV written by Israel Lugo Cárdenas and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini-aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take-o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi-Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini-computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take-o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take-o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take-o⁄ autonomously.

Download or read book Adaptive Dynamic Programming Single and Multiple Controllers written by Ruizhuo Song and published by Springer. This book was released on 2018-12-28 with total page 278 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a class of novel optimal control methods and games schemes based on adaptive dynamic programming techniques. For systems with one control input, the ADP-based optimal control is designed for different objectives, while for systems with multi-players, the optimal control inputs are proposed based on games. In order to verify the effectiveness of the proposed methods, the book analyzes the properties of the adaptive dynamic programming methods, including convergence of the iterative value functions and the stability of the system under the iterative control laws. Further, to substantiate the mathematical analysis, it presents various application examples, which provide reference to real-world practices.

Download or read book 2017 International Conference on Unmanned Aircraft Systems ICUAS written by IEEE Staff and published by . This book was released on 2017-06-13 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Present state of the art advances, research and development in the area of unmanned aviation Educate faculty, students, scientists, engineers, researchers, practitioners, end users and the public about UAS Advance knowledge frontier in the area of UAS Couple technology advances with public policy, legal and ethical issues and privacy Provide the framework for integration of UAS into the national airspace design and build the next generation of unmanned systems that are safe, reliable and resilient