scholarly journals Development of an Autonomous Quadrotor with a Robust Real-time Control: A Review on Modeling, Estimation, Control, and Hardware Aspects

2021 ◽  
Author(s):  
Mayank Goswami ◽  
Ankur Kumar ◽  
Pradnesh Chavan
Keyword(s):  
Control System ◽  
Real Time ◽  
System Integration ◽  
Estimation Methods ◽  
Software Components ◽  
Real Time Control ◽  
Complete Control ◽  
Time Control ◽  
Research Problems ◽  
Software And Hardware

The following report is a comprehensive discussion on the development of a resilient autonomous quadrotor equipped with a robust control mechanism for optimal performance. An introduction to quadrotor modeling and flight dynamics is provided first. The autopilot control and state estimation methods are then described from both software and hardware viewpoints. A review of PX4 autopilot control architecture is provided to comprehend a complete control system integration. It is followed by a survey of commonly used sensors, micro-controllers, actuators, and other hardware peripherals used in academic and commercial grade quadrotors, along with their architectural overview. Next, a brief discussion on the software components essential for a real-time implementation of the developed control system on the hardware is done. Finally, concluding remarks are made on each stage of quadcopter development, and potential research problems are forecasted.

scholarly journals Development of an Autonomous Quadrotor with a Robust Real-time Control: A Review on Modeling, Estimation, Control, and Hardware Aspects

2021 ◽  
Author(s):  
Mayank Goswami ◽  
Ankur Kumar ◽  
Pradnesh Chavan
Keyword(s):  
Control System ◽  
Real Time ◽  
System Integration ◽  
Estimation Methods ◽  
Software Components ◽  
Real Time Control ◽  
Complete Control ◽  
Time Control ◽  
Research Problems ◽  
Software And Hardware

The following report is a comprehensive discussion on the development of a resilient autonomous quadrotor equipped with a robust control mechanism for optimal performance. An introduction to quadrotor modeling and flight dynamics is provided first. The autopilot control and state estimation methods are then described from both software and hardware viewpoints. A review of PX4 autopilot control architecture is provided to comprehend a complete control system integration. It is followed by a survey of commonly used sensors, micro-controllers, actuators, and other hardware peripherals used in academic and commercial grade quadrotors, along with their architectural overview. Next, a brief discussion on the software components essential for a real-time implementation of the developed control system on the hardware is done. Finally, concluding remarks are made on each stage of quadcopter development, and potential research problems are forecasted.

Active coupling suppression and real-time control system design and implementation for three-axis electronic flight motion simulator

2017 ◽  
Vol 40 (4) ◽  
pp. 1352-1361
Author(s):  
Zhonghua Miao ◽  
Chenglei Wei ◽  
Zhiyuan Gao ◽  
Xuyong Wang
Keyword(s):  
Control System ◽  
Real Time ◽  
Hardware Implementation ◽  
Experimental Tests ◽  
Real Time Control ◽  
Control Software ◽  
Time Control ◽  
Motion Simulator ◽  
Suppression Method ◽  
Software And Hardware

Modelling of a three-axis electronic flight motion simulator with U-O-O structure is achieved in this paper, based on recursive Newton–Euler equations. To overcome the shortcomings of passive decoupling control methods, an active coupling torque suppression method is proposed using velocity internal feedback by analysing the influence of the coupling torque. Detailed control software and hardware implementation is given for the real-time control system. Experimental tests show the designed flight motion simulator system performs good dynamic and static performances.

A New Flexible Rapid Thermal Processing System

1995 ◽  
Vol 389 ◽  
Author(s):  
K. C. Saraswat ◽  
Y. Chen ◽  
L. Degertekin ◽  
B. T. Khuri-Yakub
Keyword(s):  
Control System ◽  
Real Time ◽  
Processing System ◽  
Process Conditions ◽  
Temperature Uniformity ◽  
Real Time Control ◽  
Wafer Temperature ◽  
Time Control ◽  
Wide Range ◽  
Optical Flux

ABSTRACTA highly flexible Rapid Thermal Multiprocessing (RTM) reactor is described. This flexibility is the result of several new innovations: a lamp system, an acoustic thermometer and a real-time control system. The new lamp has been optimally designed through the use of a “virtual reactor” methodology to obtain the best possible wafer temperature uniformity. It consists of multiple concentric rings composed of light bulbs with horizontal filaments. Each ring is independently and dynamically controlled providing better control over the spatial and temporal optical flux profile resulting in excellent temperature uniformity over a wide range of process conditions. An acoustic thermometer non-invasively allows complete wafer temperature tomography under all process conditions - a critically important measurement never obtained before. For real-time equipment and process control a model based multivariable control system has been developed. Extensive integration of computers and related technology for specification, communication, execution, monitoring, control, and diagnosis demonstrates the programmability of the RTM.

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