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Robust active disturbance rejection control for systems with internal uncertainties: Multirotor UAV application

JOURNAL OF FIELD robotics 2022年第4期39卷 426-456页

作者： Chebbi, Jawhar Briere, Yves Univ Toulouse Dept Aerosp Vehicles Design & Control DCAS ISAE SUPAERO 10 Ave Edouard Belin F-31055 Toulouse Occitanie France DONECLE SAS Labege Occitanie France

Active Disturbance Rejection Control (ADRC) has recently stood out as a viable alternative to the proportional-integral-derivative controllers. An interesting field of application of this approach is the control of multirotor unmanned aerial vehicles (UAVs) which are inevitably subject to various force and torque disturbances. What makes ADRC attractive is the enhanced trajectory tracking and disturbance rejection capabilities that it allows while requiring minimal knowledge about the system. Although in theory, large uncertainties on the few required system parameters do not affect the stability of the ADRC's closed-loop, they cause performance deterioration and can lead to dangerous oscillations that result in instability in practice. In this study, we design a robust ADRC for multirotor UAVs that allows maintaining the performance despite large parameter variations, without changing the initial control gains tuning. Simulation and experimental results support the theoretical findings.

关键词： aerial robotics extreme environments multirotor robust control

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Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots

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JOURNAL OF FIELD robotics 2019年第1期36卷 230-251页

作者： Zhang, Ketao Chermprayong, Pisak Tzoumanikas, Dimos Li, Wenbin Grimm, Marius Smentoch, Mariusz Leutenegger, Stefan Kovac, Mirko Imperial Coll London Dept Aeronaut Aerial Robot Lab London SW7 2AZ England Imperial Coll London Dept Comp London England

One of the main challenges for autonomous aerial robots is to land safely on a target position on varied surface structures in real-world applications. Most of current aerial robots (especially multirotors) use only rigid landing gears, which limit the adaptability to environments and can cause damage to the sensitive cameras and other electronics onboard. This paper presents a bioinpsired landing system for autonomous aerial robots, built on the inspire-abstract-implement design paradigm and an additive manufacturing process for soft thermoplastic materials. This novel landing system consists of 3D printable Sarrus shock absorbers and soft landing pads which are integrated with an one-degree-of-freedom actuation mechanism. Both designs of the Sarrus shock absorber and the soft landing pad are analyzed via finite element analysis, and are characterized with dynamic mechanical measurements. The landing system with 3D printed soft components is characterized by completing landing tests on flat, convex, and concave steel structures and grassy field in a total of 60 times at different speeds between 1 and 2 m/s. The adaptability and shock absorption capacity of the proposed landing system is then evaluated and benchmarked against rigid legs. It reveals that the system is able to adapt to varied surface structures and reduce impact force by 540N at maximum. The bioinspired landing strategy presented in this paper opens a promising avenue in aerial Biorobotics, where a cross-disciplinary approach in vehicle control and navigation is combined with soft technologies, enabled with adaptive morphology.

关键词： aerial robotics bioinspired methods control mechanisms

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Cooperative Load Transportation With Two Quadrotors Using Adaptive Control

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IEEE ACCESS 2021年 9卷 129148-129160页

作者： Dourado Villa, Daniel Khede Brandao, Alexandre Santos Carelli, Ricardo Sarcinelli-Filho, Mario Univ Fed Espirito Santo Grad Program Elect Engn BR-29075910 Vitoria ES Brazil Univ Fed Vicosa Dept Elect Engn BR-36570900 Vicosa MG Brazil Natl Univ San Juan Inst Automat RA-5400 San Juan J Argentina Univ Fed Espirito Santo Dept Elect Engn BR-29075910 Vitoria ES Brazil

The problem of carrying a bar-shaped payload suspended by flexible cables attached to two quadrotors is analyzed in this work. The aerial vehicles and the load are dealt with as a single system, whose kinematics is described as a multi-robot formation using the virtual structure approach. The dynamic effects caused by the tethered load over the quadrotors, as well as those caused by each quadrotor over the other, are treated by an adaptive dynamic compensator. To validate the proposal, experiments were run testing the system in adverse conditions: transportation far from quasi-static motion, high payload-to-quadrotor weight ratio, 20% of error in the robot model parameters, transportation under wind disturbances, and payload weight changes during flight. The good performance of the proposed control system in all these tests allows concluding that the proposed system is able to accomplish payload positioning, orientation, and trajectory tracking under adverse conditions, with accelerations up to 1.6 m/s(2).

关键词： Payloads Transportation Vehicle dynamics Load modeling Robots Kinematics Adaptation models Multi-agent systems payload cable-suspended UAV-formation control nonlinear control aerial robotics

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An unmanned helicopter control with partial small body force compensation: Experimental results

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ROBOTICA 2018年第10期36卷 1436-1453页

作者： Godbolt, Bryan Lynch, Alan F. QinetiQ Target Syst Medicine Hat AB Canada Univ Alberta Dept Elect & Comp Engn Edmonton AB Canada

A generally accepted helicopter model used for control includes the effect of Small Body Forces (SBF) which couple the vehicle's rotational subsystem inputs to its translational dynamics. SBF result from tail rotor thrust and lateral forces due to main rotor flapping. It is well-known that SBF lead to a theoretically challenging stabilization problem for the tracking error dynamics. Hence, much of the existing work has neglected SBF in order to simplify control design. We design a controller that directly compensates the influence of the tail rotor component of the SBF. The design is validated in simulation and flight tests.

关键词： aerial robotics Control of Robotic Systems Robot Dynamics Mechatronic Systems Automation

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Image-based visual PID control of a micro helicopter using a stationary camera

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ADVANCED robotics 2008年第2-3期22卷 381-393页

作者： Watanabe, Kei Yoshihata, Yuta Iwatani, Yasushi Hashimoto, Koichi Tohoku Univ Dept Syst Informat Sci Sendai Miyagi Japan

This paper proposes an image-based visual servo control method for a micro helicopter. The helicopter does not have any sensors to measure its position or posture on the body. A stationary camera is placed on the ground and it obtains image features of the helicopter. The differences between current features and given reference features are computed. PID controllers then make control input voltages for helicopter control and they drive the helicopter. The proposed controller can avoid some major difficulties in computer vision such as numerical instability due to image noise or model uncertainties, since the reference is defined in the image frames. An experimental result demonstrates that the proposed controller can keep the helicopter in a stable hover. (C) Koninklijke Brill NV, Leiden and The robotics Society of Japan, 2008.

关键词： visual feedback control aerial robotics micro helicopter PID control image-based visual servoing

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Autonomous recovery of a fixed-wing UAV using a net suspended by two multirotor UAVs

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JOURNAL OF FIELD robotics 2018年第5期35卷 717-731页

作者： Klausen, Kristian Fossen, Thor I. Johansen, Tor Arne Norwegian Univ Sci & Technol NTNU NTNU Ctr Autonomous Marine Operat & Syst Dept Engn Cybernet Trondheim Norway

This article presents a novel recovery method for fixed-wing unmanned aerial vehicles (UAVs), aimed at enabling operations from marine vessels. Instead of using the conventional method of using a fixed net on the ship deck, we propose to suspend a net under two cooperative multirotor UAVs. While keeping their relative formation, the multirotor UAVs are able to intercept the incoming fixed-wing UAV along a virtual runway over the sea and transport it back to the ship. In addition to discussing the concept and design a control system, this paper also presents experimental validation of the proposed concept for a small-scale UAV platform.

关键词： aerial robotics control cooperative robots

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Object detection, recognition, and tracking from UAVs using a thermal camera

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JOURNAL OF FIELD robotics 2021年第2期38卷 242-267页

作者： Leira, Frederik S. Helgesen, Hakon Hagen Johansen, Tor Arne Fossen, Thor I. Norwegian Univ Sci & Technol Dept Engn Cybernet Autonomous Marine Operat & Syst OS Bragstads Plass 2D N-7034 Trondheim Sor Trondelag Norway

In this paper a multiple object detection, recognition, and tracking system for unmanned aerial vehicles (UAVs) has been studied. The system can be implemented on any UAVs platform, with the main requirement being that the UAV has a suitable onboard computational unit and a camera. It is intended to be used in a maritime object tracking system framework for UAVs, which enables a UAV to perform multiobject tracking and situational awareness of the sea surface, in real time, during a UAV operation. Using machine vision to automatically detect objects in the camera's image stream combined with the UAV's navigation data, the onboard computer is able to georeference each object detection to measure the location of the detected objects in a local North-East (NE) coordinate frame. A tracking algorithm which uses a Kalman filter and a constant velocity motion model utilizes an object's position measurements, automatically found using the object detection algorithm, to track and estimate an object's position and velocity. Furthermore, a global-nearest-neighbor algorithm is applied for data association. This is achieved using a measure of distance that is based not only on the physical distance between an object's estimated position and the measured position, but also how similar the objects appear in the camera image. Four field tests were conducted at sea to verify the object detection and tracking system. One of the flight tests was a two-object tracking scenario, which is also used in three scenarios with an additional two simulated objects. The tracking results demonstrate the effectiveness of using visual recognition for data association to avoid interchanging the two estimated object trajectories. Furthermore, real-time computations performed on the gathered data show that the system is able to automatically detect and track the position and velocity of a boat. Given that the system had at least 100 georeferenced measurements of the boat's position, the position was es

关键词： aerial robotics computer vision position estimation

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Keyframe-based thermal-inertial odometry

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JOURNAL OF FIELD robotics 2020年第4期37卷 552-579页

作者： Khattak, Shehryar Papachristos, Christos Alexis, Kostas Univ Nevada Dept Comp Sci & Engn Reno NV 89557 USA

Autonomous navigation of microaerial vehicles in environments that are simultaneously GPS-denied and visually degraded, and especially in the dark, texture-less and dust- or smoke-filled settings, is rendered particularly hard. However, a potential solution arises if such aerial robots are equipped with long wave infrared thermal vision systems that are unaffected by darkness and can penetrate many types of obscurants. In response to this fact, this study proposes a keyframe-based thermal-inertial odometry estimation framework tailored to the exact data and concepts of operation of thermal cameras. The front-end component of the proposed solution utilizes full radiometric data to establish reliable correspondences between thermal images, as opposed to operating on rescaled data as previous efforts have presented. In parallel, taking advantage of a keyframe-based optimization back-end the proposed method is suitable for handling periods of data interruption which are commonly present in thermal cameras, while it also ensures the joint optimization of reprojection errors of 3D landmarks and inertial measurement errors. The developed framework was verified with respect to its resilience, performance, and ability to enable autonomous navigation in an extensive set of experimental studies including multiple field deployments in severely degraded, dark, and obscurants-filled underground mines.

关键词： aerial robotics extreme environments localization perception subterranean robotics

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Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment

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ISA TRANSACTIONS 2023年 142卷 635-652页

作者： Nekoo, Saeed Rafee Ollero, Anibal Univ Seville Escuela Tecn Super Ingn Dept Ingn Sistemas & Automat GRVC Robot Lab Seville 41092 Spain Ctr Avanzado Tecnol Aerosp FADA CATEC Seville 41300 Spain

The flapping-wing technology has emerged recently in the application of unmanned aerial robotics for autonomous flight, control, inspection, monitoring, and manipulation. Despite the advances in applications and outdoor manual flights (open-loop control), closed-loop control is yet to be investigated. This work presents a nonlinear optimal closed-loop control design via the state-dependent Riccati equation (SDRE) for a flapping-wing flying robot (FWFR). Considering that the dynamic modeling of the flapping-wing robot is complex, a proper model for the implementation of nonlinear control methods is demanded. This work proposes an alternative approach to deliver an equivalent dynamic for the translation of the system and a simplified model for orientation, to find equivalent dynamics for the whole system. The objective is to see the effect of flapping (periodic oscillation) on behavior through a simple model in simulation. Then the SDRE controller is applied to the derived model and implemented in simulations and experiments. The robot bird is a 1.6 m wingspan flapping-wing system (six-degree-of-freedom robot) with four actuators, three in the tail, and one as the flapping input. The underactuated system has been controlled successfully in position and orientation. The control loop is closed by the motion capture system in the indoor test bed where the experiments of flight have been successfully done. (c) 2023 The Author(s). Published by Elsevier Ltd on behalf of ISA. This is an open access article under the CC BY license (http://***/licenses/by/4.0/).

关键词： Flapping-wing robot aerial robotics SDRE Nonlinear Optimal Closed-loop control Flight control

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Competent Vision and Navigation Systems From Flying Insects to Autonomously Navigating Robots

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IEEE robotics & AUTOMATION MAGAZINE 2009年第3期16卷 59-71页

作者： Srinivasan, Mandyam V. Thurrowgood, Saul Soccol, Dean Univ Queensland Queensland Brain Inst St Lucia Qld 4072 Australia Univ Queensland Sch Informat Technol & Elect Engn St Lucia Qld 4072 Australia

In this article, we describe how flying insects use vision for guidance, especially in the contexts of regulating flight speed, negotiating narrow gaps, avoiding obstacles, and performing smooth landings. We show that many of these maneuvers, which were traditionally believed to involve relatively complex and high-level perception, can be achieved through the use of low-level cues and relatively simple computation. We also describe tests of the effectiveness of some of these strategies for autonomous guidance of small-scale terrestrial and aerial vehicles in the contexts of corridor navigation, altitude control, and terrain following and landing. We also describe a novel, mirror- based imaging system that is tailored for these tasks and facilitates the requisite visual computations.

关键词： Vision insects aerial robotics biologically inspired robots

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