Advanced Robust Nonlinear Control Approaches For Quadrotor Unmanned Aerial Vehicle

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Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle

Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui
Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle Book PDF

Author : Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui
Publisher : Springer Nature
Page : 263 pages
File Size : 41,6 Mb
Release : 2021-09-14
Category : Technology & Engineering
ISBN : 9783030810146

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Advanced Robust Nonlinear Control Approaches for Quadrotor Unmanned Aerial Vehicle by Moussa Labbadi,Yassine Boukal,Mohamed Cherkaoui Pdf

This book studies selected advanced flight control schemes for an uncertain quadrotor unmanned aerial vehicle (UAV) systems in the presence of constant external disturbances, parametric uncertainties, measurement noise, time-varying external disturbances, and random external disturbances. Furthermore, in all the control techniques proposed in this book, it includes the simulation results with comparison to other nonlinear control schemes recently developed for the tracking control of a quadrotor UAV. The main contributions of the present book for quadrotor UAV systems are as follows: (i) the proposed control methods are based on the high-order sliding mode controller (SMC) and hybrid control algorithm with an optimization method. (ii) the finite-time control schemes are developed by using fast terminal SMC (FTSMC), nonsingular FTSMC (NFTSMC), global time-varying SMC, and adaptive laws. (iii) the fractional-order flight control schemes are developed by using the fractional-order calculus theory, super twisting algorithm, NFTSMC, and the SMC. This book covers the research history and importance of quadrotor system subject to system uncertainties, external wind disturbances, and noise measurements, as well as the research status of advanced flight control methods, adaptive flight control methods, and flight control based on fractional-order theory. The book would be interesting to most academic undergraduate, postgraduates, researchers on flight control for drones and applications of advanced controllers in engineering field. This book presents a must-survey for advanced finite-time control for quadrotor system. Some parts of this book have the potential of becoming the courses for the modelling and control of autonomous flying machines. Readers (academic researcher, undergraduate student, postgraduate student, MBA/executive, and education practitioner) interested in nonlinear control methods find this book an investigation. This book can be used as a good reference for the academic research on the control theory, drones, terminal sliding mode control, and related to this or used in Ph.D. study of control theory and their application in field engineering.

Nonlinear Control of Robots and Unmanned Aerial Vehicles

Ranjan Vepa
Nonlinear Control of Robots and Unmanned Aerial Vehicles Book PDF

Author : Ranjan Vepa
Publisher : CRC Press
Page : 544 pages
File Size : 55,7 Mb
Release : 2016-10-14
Category : Technology & Engineering
ISBN : 9781498767057

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Nonlinear Control of Robots and Unmanned Aerial Vehicles by Ranjan Vepa Pdf

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Adaptive Hybrid Control of Quadrotor Drones

Nihal Dalwadi,Dipankar Deb,Stepan Ozana
Adaptive Hybrid Control of Quadrotor Drones Book PDF

Author : Nihal Dalwadi,Dipankar Deb,Stepan Ozana
Publisher : Springer Nature
Page : 188 pages
File Size : 48,6 Mb
Release : 2023-03-01
Category : Technology & Engineering
ISBN : 9789811997440

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Adaptive Hybrid Control of Quadrotor Drones by Nihal Dalwadi,Dipankar Deb,Stepan Ozana Pdf

This book discusses the dynamics of a tail-sitter quadrotor and biplane quadrotor-type hybrid unmanned aerial vehicles (UAVs) and, based on it, various nonlinear controllers design like backstepping control (BSC), ITSMC (Integral Terminal Sliding Mode Control), and hybrid controller (BSC + ITSMC). It discusses single and multiple observer-based control strategies to handle external disturbances like wind gusts and estimate states. It covers the dynamics of slung load with a biplane quadrotor and a control architecture to handle the effect of partial rotor failure with wind gusts acting on it. An anti-swing control to prevent damage to the slung load and a deflecting surface-based total rotor failure compensation strategy to prevent damage to the biplane quadrotor are also discussed in this book. The monograph will be helpful for undergraduate and post-graduate students as well as researchers in their advanced studies.

Robust Formation Control for Multiple Unmanned Aerial Vehicles

Hao Liu,Deyuan Liu,Yan Wan,Kimon Valavanis,Frank Lewis
Robust Formation Control for Multiple Unmanned Aerial Vehicles Book PDF

Author : Hao Liu,Deyuan Liu,Yan Wan,Kimon Valavanis,Frank Lewis
Publisher : CRC Press
Page : 145 pages
File Size : 46,5 Mb
Release : 2022-12-01
Category : Technology & Engineering
ISBN : 9781000788501

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Robust Formation Control for Multiple Unmanned Aerial Vehicles by Hao Liu,Deyuan Liu,Yan Wan,Kimon Valavanis,Frank Lewis Pdf

This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.

Robust Discrete-Time Flight Control of UAV with External Disturbances

Shuyi Shao,Mou Chen,Peng Shi
Robust Discrete Time Flight Control of UAV with External Disturbances Book PDF

Author : Shuyi Shao,Mou Chen,Peng Shi
Publisher : Springer Nature
Page : 207 pages
File Size : 55,7 Mb
Release : 2020-09-26
Category : Technology & Engineering
ISBN : 9783030579579

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Robust Discrete-Time Flight Control of UAV with External Disturbances by Shuyi Shao,Mou Chen,Peng Shi Pdf

This book studies selected discrete-time flight control schemes for fixed-wing unmanned aerial vehicle (UAV) systems in the presence of system uncertainties, external disturbances and input saturation. The main contributions of this book for UAV systems are as follows: (i) the proposed integer-order discrete-time control schemes are based on the designed discrete-time disturbance observers (DTDOs) and the neural network (NN); and (ii) the fractional-order discrete-time control schemes are developed by using the fractional-order calculus theory, the NN and the DTDOs. The book offers readers a good understanding of how to establish discrete-time tracking control schemes for fixed-wing UAV systems subject to system uncertainties, external wind disturbances and input saturation. It represents a valuable reference guide for academic research on uncertain UAV systems, and can also support advanced / Ph.D. studies on control theory and engineering.

Robust Formation Control for Multiple Unmanned Aerial Vehicles

Hao Liu (Of Beijing hang kong hang tian da xue)
Robust Formation Control for Multiple Unmanned Aerial Vehicles Book PDF

Author : Hao Liu (Of Beijing hang kong hang tian da xue)
Publisher : Unknown
Page : 0 pages
File Size : 47,5 Mb
Release : 2023
Category : Drone aircraft
ISBN : 1032150246

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Robust Formation Control for Multiple Unmanned Aerial Vehicles by Hao Liu (Of Beijing hang kong hang tian da xue) Pdf

"This book is based on the authors' recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled, parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems."--

Nonlinear Control of Robots and Unmanned Aerial Vehicles

Ranjan Vepa
Nonlinear Control of Robots and Unmanned Aerial Vehicles Book PDF

Author : Ranjan Vepa
Publisher : CRC Press
Page : 704 pages
File Size : 49,6 Mb
Release : 2016-10-14
Category : Technology & Engineering
ISBN : 9781315350301

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Nonlinear Control of Robots and Unmanned Aerial Vehicles by Ranjan Vepa Pdf

Nonlinear Control of Robots and Unmanned Aerial Vehicles: An Integrated Approach presents control and regulation methods that rely upon feedback linearization techniques. Both robot manipulators and UAVs employ operating regimes with large magnitudes of state and control variables, making such an approach vital for their control systems design. Numerous application examples are included to facilitate the art of nonlinear control system design, for both robotic systems and UAVs, in a single unified framework. MATLAB® and Simulink® are integrated to demonstrate the importance of computational methods and systems simulation in this process.

Flight Formation Control

Josep M. Guerrero,Rogelio Lozano
Flight Formation Control Book PDF

Author : Josep M. Guerrero,Rogelio Lozano
Publisher : John Wiley & Sons
Page : 279 pages
File Size : 52,7 Mb
Release : 2012-12-17
Category : Technology & Engineering
ISBN : 9781118563229

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Flight Formation Control by Josep M. Guerrero,Rogelio Lozano Pdf

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Advanced, Contemporary Control

Andrzej Bartoszewicz,Jacek Kabziński,Janusz Kacprzyk
Advanced Contemporary Control Book PDF

Author : Andrzej Bartoszewicz,Jacek Kabziński,Janusz Kacprzyk
Publisher : Springer Nature
Page : 1560 pages
File Size : 48,9 Mb
Release : 2020-06-24
Category : Technology & Engineering
ISBN : 9783030509361

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Advanced, Contemporary Control by Andrzej Bartoszewicz,Jacek Kabziński,Janusz Kacprzyk Pdf

This book presents the proceedings of the 20th Polish Control Conference. A triennial event that was first held in 1958, the conference successfully combines its long tradition with a modern approach to shed light on problems in control engineering, automation, robotics and a wide range of applications in these disciplines. The book presents new theoretical results concerning the steering of dynamical systems, as well as industrial case studies and worked solutions to real-world problems in contemporary engineering. It particularly focuses on the modelling, identification, analysis and design of automation systems; however, it also addresses the evaluation of their performance, efficiency and reliability. Other topics include fault-tolerant control in robotics, automated manufacturing, mechatronics and industrial systems. Moreover, it discusses data processing and transfer issues, covering a variety of methodologies, including model predictive, robust and adaptive techniques, as well as algebraic and geometric methods, and fractional order calculus approaches. The book also examines essential application areas, such as transportation and autonomous intelligent vehicle systems, robotic arms, mobile manipulators, cyber-physical systems, electric drives and both surface and underwater marine vessels. Lastly, it explores biological and medical applications of the control-theory-inspired methods.

Unmanned Aerial Systems

Anis Koubaa,Ahmad Taher Azar
Unmanned Aerial Systems Book PDF

Author : Anis Koubaa,Ahmad Taher Azar
Publisher : Academic Press
Page : 652 pages
File Size : 52,6 Mb
Release : 2021-01-21
Category : Technology & Engineering
ISBN : 9780128202777

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Unmanned Aerial Systems by Anis Koubaa,Ahmad Taher Azar Pdf

Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area

Autonomous Flying Robots

Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Autonomous Flying Robots Book PDF

Author : Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa
Publisher : Springer Science & Business Media
Page : 329 pages
File Size : 51,9 Mb
Release : 2010-09-15
Category : Technology & Engineering
ISBN : 9784431538561

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Autonomous Flying Robots by Kenzo Nonami,Farid Kendoul,Satoshi Suzuki,Wei Wang,Daisuke Nakazawa Pdf

The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Unmanned Aerial Vehicles

Rogelio Lozano
Unmanned Aerial Vehicles Book PDF

Author : Rogelio Lozano
Publisher : John Wiley & Sons
Page : 280 pages
File Size : 48,8 Mb
Release : 2013-02-04
Category : Science
ISBN : 9781118599860

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Unmanned Aerial Vehicles by Rogelio Lozano Pdf

This book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated in experimental platforms.

Fault-tolerant Flight Control and Guidance Systems

Guillaume J. J. Ducard
Fault tolerant Flight Control and Guidance Systems Book PDF

Author : Guillaume J. J. Ducard
Publisher : Springer Science & Business Media
Page : 268 pages
File Size : 50,9 Mb
Release : 2009-05-14
Category : Technology & Engineering
ISBN : 9781848825611

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Fault-tolerant Flight Control and Guidance Systems by Guillaume J. J. Ducard Pdf

This book offers a complete overview of fault-tolerant flight control techniques. Discussion covers the necessary equations for the modeling of small UAVs, a complete system based on extended Kalman filters, and a nonlinear flight control and guidance system.

Fault Diagnosis and Prognosis Techniques for Complex Engineering Systems

Hamid Reza Karimi
Fault Diagnosis and Prognosis Techniques for Complex Engineering Systems Book PDF

Author : Hamid Reza Karimi
Publisher : Academic Press
Page : 421 pages
File Size : 45,9 Mb
Release : 2021-06-05
Category : Technology & Engineering
ISBN : 9780128224885

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Fault Diagnosis and Prognosis Techniques for Complex Engineering Systems by Hamid Reza Karimi Pdf

Fault Diagnosis and Prognosis Techniques for Complex Engineering Systems gives a systematic description of the many facets of envisaging, designing, implementing, and experimentally exploring emerging trends in fault diagnosis and failure prognosis in mechanical, electrical, hydraulic and biomedical systems. The book is devoted to the development of mathematical methodologies for fault diagnosis and isolation, fault tolerant control, and failure prognosis problems of engineering systems. Sections present new techniques in reliability modeling, reliability analysis, reliability design, fault and failure detection, signal processing, and fault tolerant control of engineering systems. Sections focus on the development of mathematical methodologies for diagnosis and prognosis of faults or failures, providing a unified platform for understanding and applicability of advanced diagnosis and prognosis methodologies for improving reliability purposes in both theory and practice, such as vehicles, manufacturing systems, circuits, flights, biomedical systems. This book will be a valuable resource for different groups of readers – mechanical engineers working on vehicle systems, electrical engineers working on rotary machinery systems, control engineers working on fault detection systems, mathematicians and physician working on complex dynamics, and many more. Presents recent advances of theory, technological aspects, and applications of advanced diagnosis and prognosis methodologies in engineering applications Provides a series of the latest results, including fault detection, isolation, fault tolerant control, failure prognosis of components, and more Gives numerical and simulation results in each chapter to reflect engineering practices

Recent Advances in Research on Unmanned Aerial Vehicles

Fariba Fahroo,Le Yi Wang,George Yin
Recent Advances in Research on Unmanned Aerial Vehicles Book PDF

Author : Fariba Fahroo,Le Yi Wang,George Yin
Publisher : Springer
Page : 207 pages
File Size : 44,9 Mb
Release : 2013-04-10
Category : Technology & Engineering
ISBN : 9783642376948

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Recent Advances in Research on Unmanned Aerial Vehicles by Fariba Fahroo,Le Yi Wang,George Yin Pdf

A team of launched and coordinated Unmanned aerial vehicles (UAVs), requires advanced technologies in sensing, communication, computing, and control to improve their intelligence and robustness towards autonomous operations. To enhance reliability, robustness, and mission capability of a team of UAVs, a system-oriented and holistic approach is desirable in which all components and subsystems are considered in terms of their roles and impact on the entire system. This volume aims to summarize the recent progress, identify challenges and opportunities, and develop new methodologies and systems on coordinated UAV control. A group of experts working in this area have contributed to this volume in several related aspects of autonomous control of networked UAVs. Their papers introduce new control methodologies, algorithms, and systems that address several important issues in developing intelligent, autonomous or semi-autonomous, networked systems for the next generation of UAVs. The papers share a common focus on improved coordination of the members of the networked system to accomplish a common mission, to achieve heightened capability in system reconfiguration to compensate for lost members or connections, and to enhance robustness against terrain complications and attacks.