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Nonlinear output feedback tracking control of a quadrotor UAV in the presence of uncertainty

Nonlinear output feedback tracking control of a quadrotor UA...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Shane Stebler William MacKunis Mahmut Reyhanoglu Department of Physical Sciences Embry-Riddle Aernautical University Daytona Beach Florida

ISBN: (纸本)9781509035502

A nonlinear output feedback control method is presented, which achieves asymptotic altitude and attitude trajectory tracking of a quadrotor system in the presence of model uncertainty and unknown external disturbances. To address a practical scenario where velocity measurements are not available, a bank of dynamic filters is utilized, which acts as a velocity observer in the closed-loop system. A primary focus of the proposed control method is detailed development that shows how a computationally minimal strategy can be utilized to compensate for multiple sources of uncertainty without the use of adaptive parameter estimation or function approximators. A rigorous Lyapunov-based stability analysis is utilized to prove semi-global asymptotic trajectory tracking in the presence of parametric uncertainty and unmodelled external disturbances. Numerical simulation results are also provided to demonstrate the performance of the proposed control law.

关键词： Uncertainty Stability analysis Trajectory tracking Nonlinear dynamical systems Velocity measurement Vehicle dynamics Position measurement

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Designing a safe and robust automatic take-off maneuver for a fixed-wing UAV

Designing a safe and robust automatic take-off maneuver for ...

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international conference on control, automation, robotics and vision

作者： Martin E. Kugler Florian Holzapfel Institute of Flight System Dynamics Technical University of Munich 85748 Garching bei Munchen Germany

ISBN: (纸本)9781509035502

the SAGITTA Demonstrator is a novel UAV with a digital flight control system being developed by the Institute of Flight System Dynamics of the Technical University of Munich. this paper presents the implementation of an automatic take-off algorithm as a system automation module of the auto flight system. Based on a phase-breakdown of take-off, the implementation features a state machine that covers the procedure of the maneuver and the transition conditions from one phase to another. through this state machine, the automatic take-off algorithm enables controller modules of the auto flight system and provides corresponding commands for the conduct of take-off. the design of the automatic take-off algorithm focuses on maximizing safety and robustness against uncertainties and disturbances. Presented simulation results prove the concept of the algorithm as well as its robustness to simulated reality effects.

关键词： SAGITTA Demonstrator Automatic Take-off ATOL System automation Flight control System System Architecture Remotely Piloted Aircraft Unmanned Aerial Vehicle UAV

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Object grasping by combining caging and force closure

Object grasping by combining caging and force closure

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international conference on control, automation, robotics and vision (ICARCV)

作者： Qujiang Lei Martijn Wisse TU Delft Robotics Institute Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781509035502

the current research trends of object grasping can be summarized as caging grasping and force closure grasping. the motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the flat unknown objects. Inspired by the idea that caging grasping generates finger points along the object's boundary and considering the geometry property of the grippers, we propose to allocate a discrete set of finger candidates along the object's boundary. Any two of the finger candidates can form a grasp candidate, which is analyzed by using force closure to choose the best grasp candidate as the final grasp execution. the grasp quality during the manipulation of the object is guaranteed by considering the gravity of the object. Simulations and experiments on an Universal arm UR5 and an under-actuated Lacquey Fetch gripper are used to examine the performance of this algorithm, and successful results are obtained.

关键词： Grasping Force Fingers Grippers Robots three-dimensional displays Torque

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Robust control of DC motor drives using higher-order integral terminal sliding mode

Robust control of DC motor drives using higher-order integra...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Suneel K. Kommuri G. Shafiq Jagat J. Rath Kalyana C. Veluvolu School of Electronics Engineering Kyungpook National University Daegu South Korea

ISBN: (纸本)9781509035502

the tracking performance of the industrial servo systems are highly affected by the inherent unstructured uncertainties (external disturbances, and/or unmodeled dynamics), which degrades the reliability of the drive. this paper presents a higher-order terminal sliding mode controller to achieve high-accuracy motion-tracking control of DC motor drives. Fractional integral terminal sliding mode (ITSM) manifold is selected to eliminate the reaching time to the sliding hyperplane, which provides fast tracking error convergence in finite-time. Further, super-twisting control is employed to reduce the chattering while compensating the unwanted unstructured uncertainties compared with the traditional sliding mode control. Experimental results on a DC motor-based industrial mechatronic drives unit (IMDU) with belt-drive load are presented to show the effectiveness of the proposed controller.

关键词： Convergence Uncertainty DC motors Trajectory Shafts Tracking Rotors

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Distributed estimation for the unknown orientation of the local reference frames in N-dimensional space

Distributed estimation for the unknown orientation of the lo...

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international conference on control, automation, robotics and vision

作者： Byung-Hun Lee Hyo-Sung Ahn School of Mechatronics Gwangju Institute of Science and Technology Gwangju Korea

ISBN: (纸本)9781509035502

In this paper, we propose a novel distributed orientation estimation method of rigid bodies in n-dimensional space using only relative orientation information. For the orientation estimation, n auxiliary variables for each agent are required. A rotation matrix which identifies orientation of local frame with respect to the common frame is obtained by transforming auxiliary variables with the Gram-Schmidt procedure. Since the auxiliary variables are defined on vector space, a consensus-based control law for auxiliary variables achieves a global convergence. Although there exist initial values of auxiliary variables such that auxiliary variables converge to undesired points, we show that the solution of proposed algorithm can be obtained for almost all initial values.

关键词： n-dimensional biological control Frame Rotation matrix Orientation Rigid bodies global convergence FRAMES control law

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A survey on tactical control algorithms for path tracking unmanned surface vehicles

A survey on tactical control algorithms for path tracking un...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Murat Kumru Kemal Leblebicioğlu İzzet Kağan Erünsal Kenan Ahiska Department of Electrical and Electronics Engineering Middle East Technical University Ankara Turkey ASELSAN Inc. Ankara Turkey ASELSAN inc. Ankara Turkey

In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. the strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. the survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole placement, feedback linearization and sliding mode controllers according to the strategic goal. the parameters of the controllers are tuned with a common elitist genetic algorithm optimization infrastructure. the disturbance rejection capabilities of the controllers are discussed through Monte Carlo simulations of USVs within various wave disturbances as well.

关键词： Target tracking Mathematical model Surface waves Symmetric matrices Surges Algorithm design and analysis

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Automated license plate detection using a support vector machine

Automated license plate detection using a support vector mac...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Shigeharu Miyata Kenji Oka Dept. of Robotics Kinki U. School of Engr. Hiroshima Higashi-Hiroshima JAPAN

ISBN: (纸本)9781509035502

this paper proposes a new method of detecting license plates in images of vehicles where the license plate is shown, and reports the detection results when this method was applied to detection of license plates on vehicles in Japan. this license plate detection process detects only the edge vertical components, and the candidate license plates are narrowed down using the contours obtained by dilation and erosion processing and region fill processing. A SVM (Support Vector Machine) based on negative and positive examples is used to determine whether or not a candidate area is a license plate, and finally the position of the license plate is identified. this study examined how the license plate detection results in license plate and non-license plate images were affected by differences in aspect ratios, differences in brightness between the vehicle body and license plate, and the number of positive and negative examples used for learning. the effectiveness of this method was confirmed to yield a license plate detection rate of approximately 90%.

关键词： Licenses Support vector machines Brightness Image edge detection Image color analysis

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Unknown object grasping by using concavity

Unknown object grasping by using concavity

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international conference on control, automation, robotics and vision (ICARCV)

作者： Qujiang Lei Martijn Wisse TU Delft Robotics Institute Delft University of Technology Delft The Netherlands

ISBN: (纸本)9781509035502

Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to work out the concavity value for every vertex of the unknown objects followed by concavity extraction to obtain the most salient concave areas. Grasp candidates are then generated on the most salient concave areas and evaluated by using force balance computation. Grasp candidates are ranked according to the result of force balance computation and the manipulability of every grasp candidate. the grasp with the best force balance and manipulability is chosen as the final grasp. In order to verify the effectiveness of our algorithm, some unknown objects commonly used by other papers about unknown object grasping are used to do simulations and favorable performance is obtained.

关键词： three-dimensional displays Grasping Solid modeling Robots Computational modeling Shape Force

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A vehicular collision warning algorithm based on the time-to-collision estimation under connected environment

A vehicular collision warning algorithm based on the time-to...

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international conference on control, automation, robotics and vision

作者： Yongfu Li Li Zhang Yu Song College of Automation Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781509035502

Considering the traffic safety in the scenario of arterial road with on-ramp, this study proposes a time-to-collision (TTC) based vehicular collision warning algorithm under connected environment. In particular, the information of vehicles of interest, i.e., position, traveling direction and velocity, is assumed to be collected by the roadside device via the vehicle-to-infrastructure (V2I) communications. then, the TTC of a pair of vehicles in arterial road and on-ramp is estimated based on the position, traveling direction and velocity difference of that pair of vehicles. Consequently, the TTC warning messages can be disseminated to vehicles within the communication range of the roadside device, so as to reduce the risk of collision. the proposed algorithm can be used in the cooperative vehicle infrastructure systems (CVIS) to improve the traffic safety.

关键词： intelligent transportation systems collision warning algorithm time to collision connected environment

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Design of super twisting sliding mode control for single axis direct drive motor

Design of super twisting sliding mode control for single axi...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chiew Tsung Heng Zamberi Jamaludin Ahmad Yusairi Bani Hashim Nur Aidawaty Rafan Lokman Abdullah Department of Robotics and Automation Universiti Teknikal Malaysia Melaka Melaka Malaysia Department of Robotics and Automation Faculty of Manufacturing Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Melaka Malaysia

ISBN: (纸本)9781509035502

Chattering effect is often associated negatively with the application of the robust nonlinear sliding mode control. this paper compares the tracking responses of system controlled with different controllers and demonstrates the ability of super twisting sliding mode control in chattering suppression and enhancement of tracking performance against classical controller and traditional sliding mode control. the controller was numerically analyzed and experimentally validated on a direct drive single axis positioning system which is described as a second order single-input-single-output system. three controllers, namely; PID, pseudo sliding mode control and super twisting sliding mode control were designed, analyzed and compared. A Kalman-Bucy filter was designed for velocity estimation to reduce noises from numerical differentiation of position measurement. Results showed the superiority of super twisting sliding mode controller in smoothing the control input and suppressing the chattering effect compared to pseudo sliding mode control. Additional investigation was performed by replacing the signum function using a hyperbolic tangent function. However, only slight improvement in tracking performance was recorded. the results displayed the novelty of super twisting algorithm in chattering suppression making it an attractive option for real-time application.

关键词： Sliding mode control Position measurement Gain Switches Data acquisition Frequency-domain analysis

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