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Stabilizing system for quadrotor copter like flying robot by using proportional-integral-derivative (PID) controller
Abstract and Figures
In this research, a quardrotor copter like a flying robot is developed with its capability to stabilize itself during the steady flying in a determined position. In order to gain its stability, intentionally a simple filter with a low error rate of 1.67% during its full operation was placed. The time consumed during its steady flying in the air took approximately one second with the height of flying around 1 to 5 meters above the earth.
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This paper addresses the problem of designing and experimentally validating a nonlinear robust control to attitude and altitude of a quadrotor unmanned flying vehicle (UAV). First a disturbance observer is proposed, focus on the attitude regulation control problem of a quadrotor in presence of external disturbances based on the angular velocity measurements and the control inputs. The stability analysis of the nonlinear observer scheme is proven via the use of Lyapunov theory. Later, we focus on the altitude dynamics of a quadrotor in the presence of uncertainty like wind gust are presented. A sliding mode control was proposed, the gain of control can be decreased and, as a result, the chattering amplitude is reduced. The objective is to introduce an adaptation in the control law in order to decrease the gain to the minimal value preserving the sliding mode control and keeping his property of a finite-time convergence. Finally, simulation and experimental results in a quadrotor are presented to show the effectiveness of the proposed nonlinear algorithm in presence of external disturbances.
This article addresses the problem of altitude tracking for unmanned aircraft system when the altitude velocity is unknown, because in a practical implementation, the available sensors used to measure the vehicle’s altitude (barometer, global positioning system, laser, etc.) do not provide the altitude velocity. We propose a control strategy based on both the super-twisting sliding mode controller as well as a high-order sliding mode observer to control and to estimate the altitude velocity, respectively. A comprehensive stability analysis for the combined controller–observer based on the Lyapunov stability theory is presented, ensuring the asymptotic convergence of the tracking error under external bounded disturbances. To demonstrate the performance and the effectiveness of the proposed solution, an extensive set of real-time experimental tests performed at outdoor environments is presented.
This paper introduces the application of a sensor network to navigate a flying robot. We have developed distributed algorithms and efficient geographic routing techniques to incrementally guide one or more robots to points of interest based on sensor gradient fields, or along paths defined in terms of Cartesian coordinates. The robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori. We use this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network.
The control problem of multiple manipulators installed on a
free-flying space robot is presented. Kinematics and dynamics are
studied and the generalized Jacobian matrix is formulated for the motion
control of a multiarm system. Individual and coordinated control of dual
manipulators is discussed. For the coordinated operation, a new method
of controlling two arms simultaneously-one arm traces a given path,
while the other arm works both to keep the satellite attitude and to
optimize the total operation torque of the system-is developed. By means
of this control method, an interesting torque optimum behavior is
observed and a practical target capture operation is exhibited by
computer simulation
We describe an efficient, reliable, and robust four-rotor flying platform for indoor and outdoor navigation. Currently, similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and unstable behavior during fast maneuvers. Our flying platform offers a 1 kHz control frequency and motor update rate, in combination with powerful brushless DC motors in a light-weight package. Following a minimalistic design approach this system is based on a small number of low-cost components. Its robust performance is achieved by using simple but reliable highly optimized algorithms. The robot is small, light, and can carry payloads of up to 350g
The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor. A backstepping and a sliding-mode techniques. We performed various simulations in open and closed loop and implemented several experiments on the test-bench to validate the control laws. Finally, we discuss the results of each approach. These developments are part of the OS4 project in our lab.
Multirotor helicopters are very powerful flying robots used in many applications, but their lack is robustness. A fail in any of their rotors can drive the helicopter to fall. In this study two different micro-helicopter structures are analysed, a standard Quadrotor and a Hexrotor. An uncertainty model is generated and a robust controller is designed. The structured singular value μΔ is used to test the robust stability and performance of these two plants, obtaining better results for Hex than Quadrotor. At the end of the study, a set of flight tests, where some of the motors are partially damaged, is presented confirming the analysis of μΔ. Results of this study show Hexrotor as a very interesting structure for unmanned aerial vehiclesbecause of its stability and performance characteristics compared with Quadrotor.
Satellite-mounted robots are considered that manipulate loads whose masses are not negligible compared to the satellite mass.
In this paper the satellite attitude control system is considered to be turned off, as is often done on the space shuttle
during Remote Manipulator System operation. Thus the satellite is considered to be free to not only translate, but to rotate
in reaction to robot motions. Three basic topics in robotics, the forward kinematics, the inverse kinematics, and the robot
work space, are all generalized here for satellite-mounted robots. The generalized version of the forward kinematics problem
has become a dynamics problem with the property that the robot load position at the end of a maneuver is not just a function
of the final joint angles, but of the whole history of the joint angles instead. For this reason, the new terms forward kinetics
and inverse kinetics have been coined here. An interesting property of the inverse kinetics problem is that one not only specifies
the desired load position and orientation, but one can choose any desired final satellite attitude as well. One complete solution
to the very complex inverse kinetics problem for six degree-of-freedom satellite-mounted robot manipulators is presented.
The robot workspace is also generated, and found to be a perfect sphere whose radius is a function of the load mass. Comparison
of the free-flying satellite robot workspace to that of a robot mounted on an attitude fixed satellite, and to an inertially
mounted robot, shows that it is usually larger than either one.