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 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 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 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 Quadrotor Unmanned Aerial Vehicle UAV written by Osama Pervez and published by GRIN Verlag. This book was released on 2014-05-28 with total page 59 pages. Available in PDF, EPUB and Kindle. Book excerpt: Project Report from the year 2008 in the subject Instructor Plans: Craft / Production / Trade - Electronics Engineering, grade: 90, Sir Syed University Of Engineering & Technology, language: English, abstract: Quad rotor helicopters have become increasingly important in recent years as platforms for both research and commercial unmanned aerial vehicle applications. This progress report explains work on several important aerodynamic effects. These vehicles have 4 identical rotors in 2 pairs spinning in opposite directions, and possess many advantages over standard helicopters in terms of safety and efficiency at small sizes.
Download or read book You Have Control written by Civil Aviation Authority and published by . This book was released on 2015 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
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 Modelling and Control of a Model UAV with Simulink written by Akçay Çalışır and published by LAP Lambert Academic Publishing. This book was released on 2019-02-05 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: DEVELOPMENT OF A MODEL UNMANNED AERIAL VEHICLE WITH SIMULINK: MODELLING AND CONTROL // The nonlinear simulation model of an unmanned aerial vehicle (UAV) for Piper J3-Cub in MATLAB/Simulink(R) environment is developed by taking into consideration all the possible major system components such as actuators, gravity, engine, atmosphere, wind-turbulence models, as well as the aerodynamics components in the 6 DOF equations of motion. The model is validated by comparing with a similar UAV data in terms of open loop dynamic stability characteristics. Using two main approaches; namely, fuzzy based on PID which is the obtained value using genetic algorithm and adaptive neural fuzzy inference system, linear controllers are designed. The controllers are designed for control of roll, heading with coordinated turn, flight path, attitude command in pitch, altitude in achieving desired, i.e., for the achievement of control functions. These linear controllers are integrated into the nonlinear model, by gain scheduling with respect to altitude, controller input in terms of longitudinal and lateral linearization regarding the perturbed states and control.
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 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 An Adaptive Flight Control System for the QF 106 Drone Aircraft written by Luis Eduardo Alvarado and published by . This book was released on 1990 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Model Based Control of Quadcopters written by Martí Pomés Arnau and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This project sets its objectives in the construction of a quadopter, in obtaining its mathematical model and the development of a linear MPC with the intention of a future implementation of this controller inside the onboard computer for a real time control of the position of the drone. First a general look is taken into the parts that form the drone and its software with practical observations directed to ease the introduction to future students that may continue with the project. Then the drone and its attitude controller are modeled and a linear MPC is implemented in simulation in order to test its feasibility for a future implementation. Both, setpoint tracking and trajectory tracking are tested. Possible improvements to the linear MPC, like the usage of sequential linearization, are presented in order to solve some of the constraints that a linear MPC may have when dealing with a non linear system.
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 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 Vintage Drone Hexagon written by Christan Lee and published by Independently Published. This book was released on 2019-06-07 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: Drone Notebook Dot grid can be ideal as a guide for practicing handwriting and hand lettering, with the subtle guide allowing you to control the height and width of letters Perfectly sized at 6"x9" 120 page softcover bookbinding flexible Paperback
Download or read book Control of Quadcopter UAV by Nonlinear Feedback written by Haoquan Ye and published by . This book was released on 2018 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: A quadcopter, also called a quadrotor helicopter or quadrotor, is a popular small-scale UAV that has been used for a variety of applications such as photography, monitoring, surveillance and inspection, etc. It needs reliable hardware and control systems to guarantee its performance in various missions. Therefore, developing effective control algorithms is vital for the performance and applications of quadcopters.In this thesis, a nonlinear control method is proposed and a smooth state feedback controller is designed to achieve attitude control and stabilization of the quadcopter. First, we study the dynamics of a quadcopter and establish a mathematical model in state space. Then, with the help of a transformation that puts the quadcopter model into a nonlinear system in the normal form, we design a smooth state feedback controller by taking advantage of the nonlinearity of the quadcopter, combined with the techniques of adding an integrator and feedback linearization. Finally, MATLAB simulations are conducted to validate the effectiveness of the proposed nonlinear controller. The simulations results demonstrate that the new control scheme has a satisfactory dynamic performance and certain robustness against wind disturbance.
