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Dead Reckoning and Kalman Filter Design for Trajectory Tracking of a Quadrotor UAV

Dead Reckoning and Kalman Filter Design for Trajectory Track...

2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Qing-Li Zhou Youmin Zhang Yao-Hong Qu Camille-Alain Rabbath Mechanical and Industrial Engineering Department Concordia University Montreal Quebec H3G 2W1 C Diagnosis Flight Control and Simulation Lab at the Dept. of Mechanical and Industrial Engineering School of Automation Northwestern Polytechnical University Xi’an 710072 P. R. China Defence Research & Development Canada Valcartier Quebec G3J 1X5 Canada

The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.

关键词： Rotors Stability analysis Analytical models Gold

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Scaling reduction of port-Hamiltonian systems for numerical calculation

Scaling reduction of port-Hamiltonian systems for numerical ...

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ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009

作者： Nishida, Gou Ichishima, Daiji Kashima, Kenji Fujimoto, Kenji Yamakita, Masaki Maschke, Bernhard Ikeura, Ryojun Robotic Motion Lab. Advanced Science Institute RIKEN Japan Research and Development Center Sumitomo Heavy Industries Ltd. Japan Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Japan Department of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Japan Department of Mechanical and Control Systems Engineering Tokyo Institute of Technology Japan Laboratoire d'Automatique et de Génie des Procédés UMR CNRS 5007 Université Claude Bernard Lyon 1 France Department of Mechanical Engineering Mie University Denmark

ISBN: (纸本)9784907764333

We present a novel reduction method of port-Hamiltonian systems by a renormalization group. The reduced system is suitable for a fast numerical calculation in a mesoscopic scale. Especially, we aim at the development of renormalized molecular dynamics with controls. First, we define a renormalized Hamiltonian with coarse graining. Next, we introduce a renormalized canonical Hamiltonian system. Moreover, we clarify the relationship between the renormalized Hamiltonian system and a Dirac structure. Finally, we obtain necessary conditions of boundary connections for each renormalized Hamiltonian system with different scales. © 2009 SICE.

关键词： Hamiltonians

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Active modeling based course control of Unmanned Surface Vehicles

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ICIC Express Letters 2009年第3期3卷 579-584页

作者： Peng, Yan Huang, Qingjiu He, Yuqing Han, Jianda State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Nanta street 114 Shenyang 110016 China School of Mechatronics Engineering and Automation Shanghai University Shanghai 200072 China Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1-13-11 O-okayama Meguro-ku Tokyo 152-8552 Japan

Model uncertainties and external disturbances extensively exist in UnmannedSurface Vehicle (USV) systems, which will greatly deteriorate the autonomousability. In this paper, a, new kind, of robust controller design strategy based,on active modeling technique is proposed, to attenuate the uncertaintiespre-described, in the coarse control of USV systems. Firstly, with detailed,analysis, the uncertainties are introduced, into the new-designed, coarsedynamics model by using the concept of modeling errors;Secondly, Kalman filteris used to estimate simultaneously the modeling errors, which is subsequentlyused, to design the robust controller;Finally, the new strategy is tested withrespect to the unmanned trimaran vehicles system-Tri-0601 to show thefeasibility and validity of it. ICIC International © 2009.

关键词： Kalman filters

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Special assembly of laminated nanocomposite that mimics nacre

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Materials Science and engineering C 2008年第7期28卷 1031-1037页

作者： Lin, Wei Wang, Chang-an Le, Huilong Long, Bin Huang, Yong State Key Lab of New Ceramics and Fine Processing Department of Materials Science and Engineering Tsinghua University Beijing 100084 China Division of Mechanical Engineering and Mechatronics University of Dundee Dundee DD1 4HN United Kingdom

Assembly of organic-inorganic nanocomposite with nacre-like structure has long been considered a valuable bio-inspired route to design materials with excellent mechanical properties. However, effective control of nanostructure and organic content concurrently is a key problem. In this research, a special assembly method-hydrothermal-electrophoretic assembly was introduced into preparing nanocomposite that mimics nacre, both in structure and composition. The two-step assembly process included intercalation of polymer into interlayer space of montmorillonite by hydrothermal process and the subsequent electrophoretic deposition. X-ray diffraction, Fourier transform infrared spectroscopy, thermal gravimetric analysis and scanning electronic microscopy were employed to characterize the structure and composition of the films. Reduced Young's modulus was determined by nanoindentation. Results showed that by constructing brick-and-mortar nanostructure, reduced Young's modulus of the composite film was effectively enhanced even when organic content was low. © 2007 Elsevier B.V. All rights reserved.

关键词： Thermogravimetric analysis

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Temperature Dependence of Growth Mechanism forNanoscale High T_c Superconductors

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Journal of Electronic Science and Technology of China 2008年第2期6卷 175-180页

作者： Wu-Ming Chen Mustafa Yavuz Jian-Xun Jin Center of Applied Superconductivity and Electrical Engineering University of Electronic Science and Technology of China Chengdu 610054 China and Nano ＆ Micro-Systems Research Lab Mechanical ＆ Mechatronics Engineering Department University of Waterloo Waterloo ON N2L 3G1 Canada Nano ＆ Micro=Systems Research Lab Mechanical ＆ Mcchatronics Engineering Department University of Waterloo Waterloo ON N2L 3GI Canada Center of Applied Superconductivity and Electrical Engineering University of Electronic Science and Technology of China Chcngdu 610054 China

The growth mechanisms of high temperature Yttrium- and Bismuth-based-superconductors were investigated at nanoscale. We started with studying the growth relationships among the three phases of Bi-2201, Bi-2212, and Bi-2233, and then extended to another growth mechanism of Bi-2223 and the growth of yttrium-based high-temperature nanosuperconductors （nano-YBCO）. A time dependence of growth experiment was performed. In this experiment, the Bi-based superconductors grew within different sintering periods, and its three phases were determined by X-ray diffraction. And then, a time dependence of growth model was suggested to explain the experimental facts. With this model, governing equations were derived to quantitatively describe the growth and decomposition mechanisms during sintering period. The results calculated from the derived equations were well in agreement with the experimental data. We also suggested an alternative growth mechanism for the Bi-2223 phase, which was supported by an observation of transmission electron microscopy （TEM）. The nano-YBCO also grew, and their orthorhombic crystal structures were determined by the TEM. The superconducting properties of Bi-2223 were investigated by the measurements of ac magnetic susceptibility. It is expected that the derived equations will fit the alternative experimental growth mechanism of the Bi-2223 phase and the nano-YBCO growth mechanism, too.

关键词： Bi-2223 growth mechanism model,nanosuperconductor transmission electron microscopy,X-ray diffraction.

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Multi-Scale Distributed Port-Hamiltonian Representation of Ionic Polymer-Metal Composite

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IFAC Proceedings Volumes 2008年第2期41卷 2300-2305页

作者： Gou Nishida Kentaro Takagi Bernhard Maschke Zhi-wei Luo RIKEN(The Institute of Physical and Chemical Research) Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Shimoshidami Moriyama-ku Nagoya Aichi 463-0003 Japan Dept. of Mechanical Science and Engineering Graduate School of Engineering Nagoya University Furo-cho Chikusa-ku Nagoya 464-8603 JAPAN Université Claude Bernard Lyon-1 CPE Lyon - Bâtiment 308 G UCB Lyon 1 - UFR Génie Electrique et des Procédés - CNRS UMR 5007 Laboratoire d'Automatique et de Génie des Procédés 43 bd du 11 Novembre 1918 F-69622 Villeurbanne cedex France Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada-ku Kobe Hyogo 657-8501 JAPAN / RIKEN BMC

This paper shows that one of soft actuators, Ionic Polymer-Metal Composite (IPMC) can be modeled in terms of distributed port-Hamiltonian systems with multi-scale. The physical structure of IPMC consists of three parts. The first part is an electric double layer at the interface between the polymer and the metal electrodes. The frequency response of the polymer-metal interface shows a fractal degree of gain slope. Then we adopt a black-box circuit model to this part and give considerations for distributed impedance parameters. The second part is an electrostress diffusion coupling model with bending and relaxation dynamics. This part is represented by an electro-osmosis, which is a water transport by an electric field, and a streaming potential, which is an electric field created by a water transport. We discuss the relationship of stress and bending moment induced by swelling. The third part is a mechanical system modeled as a flexible beam with large deformations. The representation has the capability extracting the control structure based on passivity from distributed parameter systems possessing a complex behavior.

关键词： Modeling Design methodologies

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Temperature Dependence of Growth Mechanism for Nanoscale High Tc Superconductors

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Journal of Electronic Science Technology 2008年第2期000卷

作者： Wu-Ming Chen Mustafa Yavuz Jian-Xun Jin Center of Applied Superconductivity and Electrical Engineering University of Electronic Science and Technology of China Chengdu 610054 China Nano & Micro-Systems Research Lab Mechanical & Mechatronics Engineering Department University of Waterl Nano & Micro-Systems Research Lab Mechanical & Mechatronics Engineering Department University of Waterloo Waterloo ON N2L 3G1 Canada. Center of Applied Superconductivity and Electrical Engineering University of Electronic Science and Technology of China Chengdu 610054 China.

The growth mechanisms of high temper- ature Yttrium- and Bismuth-based-superconductors were investigated at nanoscale. We started with studying the growth relationships among the three phases of Bi-2201, Bi-2212, and Bi-2233, and then extended to another growth mechanism of Bi-2223 and the growth of yttrium-based high-temperature nanosupercon- ductors (nano-YBCO). A time dependence of growth experiment was performed. In this experiment, the Bi-based superconductors grew within different sintering periods, and its three phases were determined by X-ray diffraction. And then, a time dependence of growth model was suggested to explain the experimental facts. With this model, governing equations were derived to quantitatively describe the growth and decomposition mechanisms during sintering period. The results calculated from the derived equations were well in agreement with the experimental data. We also suggested an alternative growth mechanism for the Bi-2223 phase, which was supported by an observation of transmission electron microscopy (TEM). The nano-YBCO also grew, and their orthorhombic crystal structures were determined by the TEM. The superconducting properties of Bi-2223 were investigated by the measurements of ac magnetic susceptibility. It is expected that the derived equations will fit the alter- native experimental growth mechanism of the Bi-2223 phase and the nano-YBCO growth mechanism, too.

关键词： Bi-2223 growth mechanism model nanosuperconductor transmission electron microscopy X-ray diffraction

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Time-varying port-representation of dissipative structures with gauge transformations 9

Time-varying port-representation of dissipative structures w...

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2007 9th European control Conference, ECC 2007

作者： Nishida, Gou Yamakita, Masaki Luo, Zhi-Wei Institute of Physical and Chemical Research Bio-Mimetic Control Research Center Environment Adaptive Robotic Systems Lab. 2271-130 Anagahora Nagoya AichiN463-0003 Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology 2-12-1 Oookayama Meguro-ku152-8552 Japan Department of Computer and Systems Engineering Kobe University 1-1 Rokkodai Nada-ku Hyogo657-8501 Japan

ISBN: (纸本)9783952417386

A distributed-port-Hamiltonian system is a generalized model for passivity-based controls. The system representation has been extended to an infinite-dimensional conservative system derived from variational calculus, which is called a field-port-Lagrangian system. A lot of practical systems for control engineering include dissipative elements;however such a non-conservative structure usually cannot be defined by a variational problem. This paper shows that a system with the dissipative structure can be defined as a time-varying fieldport-Lagrangian system by a gauge transformation. First, we show that the gauge transformation generates a time-dependent Lagrangian density functional that introduces the time-varying port-representation. Next, we present that a class of dissipative systems can be identified with a conservative system possessing an internal irreversible energy flow. Finally, we illustrate an equation of elastic films with viscosity damping with the time-varying port-representation. © 2007 EUCA.

关键词： Variational techniques

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Evaluation of un-cracking delamination by pseudo crack model (PCM) in FRMLs

Evaluation of un-cracking delamination by pseudo crack model...

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作者： Kim, Cheol-Woong Oh, Dong-Joon Kang, Ki-Weon Ko, Young-Ho Mechanical Eng. U and I Corp. R and D Center in Korea Univ. 5ga Anam-dong Sungbuk-gu Seoul 136-701 Korea Republic of Department of Mechanical Education Andong National University 388 Songchun-dong Andong Kyoungbuk 760-749 Korea Republic of Department of Sports Engineering Korea Institute of Sport Science 223-19 Kongnueng-dong Nowon-gu Seoul 139-272 Korea Republic of Lab. of Control and Measurement Mechanical Eng. Soongsil University 1-1 Sangdo 5 dong Dongjak-gu Seoul 156-743 Korea Republic of

If Fiber Reinforced Metal Laminates (FRMLs) were delaminated, the decrease of stiffness and fiber bridging effect would result in the sudden aggravation of fatigue characteristics. It was reported that the delamination of FRMLs resulted from the crack of Al alloy layers and that it depended on the crack growth. When FRMLs with circular holes was un-cracked but was delaminated, it was impossible to analyze them by conventional fracture parameters expressed as the function of cracks. Therefore, a new analytical model called Pseudo Crack Model (PCM) was suggested to compare the delaminations whether cracks were made or not. The relationship between the crack consumption rate (Ccrack) and the delamination consumption rate (Cdel) was discussed and it was also known that the effect of the Ccrack was larger than that of the Cdel.

关键词： Fiber reinforced materials

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A distributed sensing system for vehicles state estimation

A distributed sensing system for vehicles state estimation

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2006 ASME International mechanical engineering Congress and Exposition, IMECE2006

作者： Bolandhemmat, Hamidreza Clark, Christopher M. Golnaraghi, M.F. Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Lab. for Autonomous and Intelligent Robotics Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada Mechatronics and Smart Materials Systems Department of Mechanical Engineering University of Waterloo Waterloo Ont. N2L 3G1 Canada

ISBN: (纸本)0791837904

This paper presents the design of a distributed sensing system that uses an Extended Kalman Filter (EKF) to fuse measurements, so that automotive vehicle states can be estimated for use by a Semi-active Suspension control system. To improve ride comfort and handling quality, relative displacements and velocities of suspension systems are estimated. To control the stability of vehicles, roll, yaw, and pitch must also be determined. The designed (EKF) uses easily accessible measurements such as accelerations and body's angular velocities. These measurements are provided by 8 accelerometers and an Inertial Measurement Unit (IMU). The accelerometers are strategically mounted on the two ends of each individual shock absorber (damper). The IMU was mounted near the vehicle's center of gravity. Computer simulations and experiments were conducted for full vehicle state estimation of a 1993 Toyota Tercel equipped with the above mentioned sensor suite. Results show that except relative displacements, all states of the automobile's semi-active suspension systems can be estimated using this set of sensors. The designed EKF works well despite not knowing accurate information about road inputs, external disturbances and car characteristics such as moments of inertia, mass, and equivalent spring and damping coefficients. Both simulation results and experimental results show the effectiveness of the designed EKF in estimating the required states. Copyright © 2006 by ASME.

关键词： Remote sensing

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