The four-rotor unmanned aerial vehicle (UAV), known as quadrotor UAV, has been a hot area for the research of unmanned aerial vehicles. Ground control Station (GCS), as an essential part of quadrotor UAV system, plays...
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The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground controlsystem (GCS) is an important part of the quadrotor UAV flight controlsystem, and it can promote the flight per...
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The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground controlsystem (GCS) is an important part of the quadrotor UAV flight controlsystem, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.
In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve au...
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In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground controlsystem and stored via a communication module based on the UDP network protocol.
In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobil...
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ISBN:
(纸本)9781467325813
In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn't always hold for mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat's Lemma and illustrated by simulation results.
In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data controlsystems with output constraints have been investigated base on jump system model of sampled-data sys...
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In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data controlsystems with output constraints have been investigated base on jump system model of sampled-data system using constant Lyapunov function (CLF) approach. The online algorithm of the H ∞ receding horizon optimization design for the norm-bounded parametric uncertain system is proposed. The optimal state-feedback H ∞ controllers are obtained and these controller can provide a performance tradeoff with respect to output constraints, i.e., the control strategy offers the capability of relaxing the performance level automatically in order to obey output constraints in the case of a larger disturbance. When the disturbance is restored to a usual situation, this control strategy can also improve the performance of system automatically.
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