A novel approach to the modeling and control of a subactuated aircraft is performed based on Geometric Algebra (GA) principles. The selected platform for analysis is a quad rotorcraft. The derived model leverages obje...
A novel approach to the modeling and control of a subactuated aircraft is performed based on Geometric Algebra (GA) principles. The selected platform for analysis is a quad rotorcraft. The derived model leverages objects from GA, such as the rotor, to perform rotations, replacing the need for Euler angles and quaternions. controllers, which operate exclusively on GA objects, are developed to regulate the altitude, attitude, and translation of the quad rotorcraft. Numerical examples, including way-point navigation and trajectory tracking, illustrate the feasibility of the GA approach.
This paper deals with the development of an adaptive robust controller for an Unmanned Aircraft System with variable mass. The goal is to improve trajectory tracking and energy performance while the aircraft mass is g...
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This paper deals with a load transportation problem using single and multiple quadrotor aerial vehicles. A control strategy for cooperative load transportation is developed by using consensus strategies for multi agen...
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This paper deals with a load transportation problem using single and multiple quadrotor aerial vehicles. A control strategy for cooperative load transportation is developed by using consensus strategies for multi agent systems. To reduce the swing in the load angle, the Input Shaping technique is used. This technique shows that oscillations can be reduced in up to 60%. The stability for the strategy is based on a Lyapunov analysis. Finally, simulation results are provide to show the effectiveness of the proposed control structure and the notable reduction of the load swing angle.
The present work proposes a paradigm for the analysis of social networks hidden within incomplete data models, based on the semantic mining of noisy corpora. A proof of concept is implemented and experimented on a par...
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ISBN:
(纸本)9781509028474
The present work proposes a paradigm for the analysis of social networks hidden within incomplete data models, based on the semantic mining of noisy corpora. A proof of concept is implemented and experimented on a partial database resulting from the capture of short text messages in line with the international project `Sms4science'.
In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used...
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In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.
This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag),...
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ISBN:
(纸本)9781479960118
This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag), flying and handling qualities in order to perform a reliable and stable flight. The equations of motion are described using the Newton-Euler formulation and the stability derivatives are obtained from the aerodynamic design of the aerial vehicle. A static analysis is presented in order to study the mini airplane in trim condition. Simulations illustrate the performance for the closed-loop system of the aerial vehicle. The platform and its avionics are developed using low-cost, easy operation, sensors and components.
This paper addresses the development and implementation of a testbed for object's manipulation by using unmanned aerial vehicles *** and the VICON Cameras System. Such testbed allows the user to choose among two d...
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ISBN:
(纸本)9781479923779
This paper addresses the development and implementation of a testbed for object's manipulation by using unmanned aerial vehicles *** and the VICON Cameras System. Such testbed allows the user to choose among two development environments to perform aerial manipulation establishing a communication with LabVIEW, ROS and the C++ Qt library;thus, the user can employ the development environment more suitable for his application. This testbed allows us to establish communication between a computer and the A.R. Drone (v1 or v2) via a WiFi connection which sends and receives data using the communication protocol UDP and sockets for connection with the vehicle UDP ports. This platform sends control and navigation commands to the UAVs in order to position them in the space with user interaction by means of a graphical user interface. This testbed enables the implementation of more complex applications, such as complex controllers. In addition, to validate the effectiveness of this testbed, experimental results of aerial manipulation between two quadrotors are presented.
This paper addresses the real-time transmission optimization of loss tolerant information streams over Vehicular Ad Hoc Networks. The proposed FEC and Interleaving Real Time Optimization (FIRO) technique dynamically a...
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