Control Architecture and Control Laws Design for Multiple UAVs Formation Flight

2012 ◽  
Vol 246-247 ◽  
pp. 853-857
Author(s):  
Guang Lei Meng
Keyword(s):  
Degrees Of Freedom ◽  
Formation Flight ◽  
Control Architecture ◽  
Mathematical Representation ◽  
Control Laws ◽  
Multiple Uavs ◽  
Finite State ◽  
Aerial Vehicle ◽  
6 Degrees Of Freedom ◽  
And Control

An autonomous formation-flight method for multiple UAVs (Unmanned Aerial Vehicle) was designed. First the mathematical representation of formation shape was analyzed. Then the control architecture was devised for multiple UAVs formation flight based on finite state machine. The flight states of the wing UAV were built through the formation flight and the transformation relationships of these flight states were defined. So the automated transformation among these flight states could be achieved and the intelligence of the pilots could be mimicked by this way. Aiming at the typical flight state which is capable of maintaining the formation shape, the control laws were contrived for the wing UAVs. Finally, two nonlinear fighter models which have 6 degrees of freedom were selected to carry out autonomous formation-flight experiments. And the results show the control laws designed for maintaining the formation shape are valid.

Dynamic Modeling and Control Techniques for a Quadrotor

2019 ◽  
pp. 20-66
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Dynamic Modeling and Control Techniques for a Quadrotor

2015 ◽  
pp. 408-454
Author(s):  
Heba Elkholy ◽  
Maki K. Habib
Keyword(s):  
Pid Controller ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Simulation Environment ◽  
Modeling And Control ◽  
Controller Gain ◽  
Aerial Vehicle ◽  
And Control ◽  
The Mathematical Model

This chapter presents the detailed dynamic model of a Vertical Take-Off and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) known as the quadrotor. The mathematical model is derived based on Newton Euler formalism. This is followed by the development of a simulation environment on which the developed model is verified. Four control algorithms are developed to control the quadrotor's degrees of freedom: a linear PID controller, Gain Scheduling-based PID controller, nonlinear Sliding Mode, and Backstepping controllers. The performances of these controllers are compared through the developed simulation environment in terms of their dynamic performance, stability, and the effect of possible disturbances.

Guidance and control algorithms for mini UAV autopilots

2017 ◽  
Vol 89 (1) ◽  
pp. 133-144 ◽  
Author(s):  
Elisa Capello ◽  
Giorgio Guglieri ◽  
Gianluca Ristorto
Keyword(s):  
Attitude Control ◽  
Path Following ◽  
Adaptive Controller ◽  
Computationally Efficient ◽  
Control Laws ◽  
Content Type ◽  
Guidance And Control ◽  
Aerial Vehicle ◽  
Set Up ◽  
And Control

Purpose The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller. Findings Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

Design of a Wheelchair Robot for Active Postural Support

2018 ◽  
Author(s):  
Rosemarie C. Murray ◽  
Chawin Ophaswongse ◽  
Sunil K. Agrawal
Keyword(s):  
Motor Control ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Sagittal Plane ◽  
Control Architecture ◽  
Lateral Bending ◽  
Robotic Exoskeleton ◽  
Postural Support ◽  
And Control

This paper describes the design and control architecture of a novel Wheelchair-mounted Robot for Active Postural Support (WRAPS). The WRAPS is a robotic exoskeleton that allows limited degrees-of-freedom (DOFs) of the trunk relative to the pelvis. There are three DOFs in the sagittal plane of the human body and one in lateral bending. The work is motivated by the needs of individuals with impaired trunk motor control, who currently rely on the use of passive and predominantly static supports to maintain a static posture. These devices can be overly restrictive and inhibit the user in their activities of daily living (ADLs). The WRAPS is capable of supporting a human user within their active range of torso motion. It has the potential to assist users in their ADLs while encouraging a dynamic range of healthy postures.

scholarly journals Modeling and Control of the MARES Autonomous Underwater Vehicle

2010 ◽  
Vol 44 (2) ◽  
pp. 19-36 ◽  
Author(s):  
Bruno Ferreira ◽  
Aníbal Matos ◽  
Nuno Cruz ◽  
Miguel Pinto
Keyword(s):  
Degrees Of Freedom ◽  
Autonomous Underwater Vehicle ◽  
General Procedure ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Lyapunov Theory ◽  
Control Laws ◽  
Modeling And Control ◽  
Definition Of ◽  
And Control

AbstractIn this work, we address the modeling and control problems in the domain of underwater vehicles. We focus on a prototype of an autonomous underwater vehicle. Although the work presented here is applied to a particular vehicle with four controllable degrees of freedom, the method may be easily extended to several submerged bodies. In the engineering area, modeling of systems is done frequently, as it yields a mathematical translation of their behavior. Since models can become an important tool to solve problems related to its motion or even to the design of controllers, we obtain a model with six degrees of freedom for such a vehicle.Robust control of underwater vehicles is an area in which many efforts were applied over the last two decades. However, due to nonlinear dynamics, it may be hard to design robust controllers that yield the expected behavior, and there is no general procedure to develop them. Here, we propose an approach that combines nonlinear controllers based on the deduced model and on the Lyapunov theory to control the velocities of the vehicle with linear controllers that control the vehicle’s position. We derive control laws to perform several maneuvers, both in the vertical and the horizontal planes, in a decoupled way, which is made possible through the configuration of thrusters. Finally, we present realistic simulations and experimental results that validate the proposed approach in the definition of the control laws.

Design of a Wheelchair Robot for Active Postural Support

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Rosemarie C. Murray ◽  
Chawin Ophaswongse ◽  
Sunil K. Agrawal
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
Degrees Of Freedom ◽  
Dynamic Range ◽  
Sagittal Plane ◽  
Control Architecture ◽  
Lateral Bending ◽  
Robotic Exoskeleton ◽  
Postural Support ◽  
And Control

This paper describes the design and control architecture of a novel wheelchair-mounted robot for active postural support (WRAPS). The WRAPS is a robotic exoskeleton that allows limited degrees-of-freedom of the trunk relative to the pelvis. There are three degrees-of-freedoms in the sagittal plane of the human body and one in lateral bending. The work is motivated by the needs of individuals with impaired trunk motor control, who currently rely on the use of passive and predominantly static supports to maintain a static posture. These devices can be overly restrictive and inhibit the user in their activities of daily living. The WRAPS is capable of supporting a human user within their active range of torso motion. It has the potential to assist users in their activities of daily living while encouraging a dynamic range of healthy postures.

scholarly journals Autonomous Vision-Based Aerial Grasping for Rotorcraft Unmanned Aerial Vehicles

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3410 ◽  
Author(s):  
Lishan Lin ◽  
Yuji Yang ◽  
Hui Cheng ◽  
Xuechen Chen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Region Of Interest ◽  
Target Object ◽  
Robotic Arm ◽  
Support Vector ◽  
Control Laws ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
And Control ◽  
High Computational Efficiency

Autonomous vision-based aerial grasping is an essential and challenging task for aerial manipulation missions. In this paper, we propose a vision-based aerial grasping system for a Rotorcraft Unmanned Aerial Vehicle (UAV) to grasp a target object. The UAV system is equipped with a monocular camera, a 3-DOF robotic arm with a gripper and a Jetson TK1 computer. Efficient and reliable visual detectors and control laws are crucial for autonomous aerial grasping using limited onboard sensing and computational capabilities. To detect and track the target object in real time, an efficient proposal algorithm is presented to reliably estimate the region of interest (ROI), then a correlation filter-based classifier is developed to track the detected object. Moreover, a support vector regression (SVR)-based grasping position detector is proposed to improve the grasp success rate with high computational efficiency. Using the estimated grasping position and the UAV?Äôs states, novel control laws of the UAV and the robotic arm are proposed to perform aerial grasping. Extensive simulations and outdoor flight experiments have been implemented. The experimental results illustrate that the proposed vision-based aerial grasping system can autonomously and reliably grasp the target object while working entirely onboard.

Design and control of a parallel mechanism haptic master for robot surgery using magneto-rheological clutches and brakes

2018 ◽  
Vol 29 (19) ◽  
pp. 3829-3844 ◽  
Author(s):  
Seung-Woo Cha ◽  
Seok-Rae Kang ◽  
Yong-Hoon Hwang ◽  
Seung-Bok Choi ◽  
Yang-Sup Lee ◽  
...  
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Repulsive Force ◽  
The Body ◽  
Tracking Accuracy ◽  
Magneto Rheological ◽  
Feed Forward Controller ◽  
Repulsive Forces ◽  
6 Degrees Of Freedom ◽  
And Control

This article presents tracking control performances of the repulsive force and torque of a haptic master with 6 degrees of freedom, which can be applied to robot-assisted minimally invasive surgeries. The proposed haptic master is activated by two types of actuators that use magneto-rheological fluid: magneto-rheological clutch and magneto-rheological brake. The body segment (or lower part) of the haptic master generates the repulsive forces for the three translational axes using the magneto-rheological clutch, while the wrist segment (or upper part) generates the repulsive torque for the three rotational axes through the use of the magneto-rheological brake. After analyzing the kinematic and dynamic equations, an appropriately sized haptic master is designed and manufactured. The field-dependent force and torque characteristics of the magneto-rheological actuators are experimentally investigated. Then, for successful tracking control performances, a fuzzy plus proportional–integral–derivative feedback controller is used for the repulsive force while a feed-forward controller associated with a hysteretic compensator for the repulsive torque. The effectiveness of the proposed 6-degree-of-freedom haptic master is experimentally validated by demonstrating high tracking accuracy of the force and torque.

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