State Estimation And Control For Low Cost Unmanned Aerial Vehicles

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State Estimation and Control for Low-cost Unmanned Aerial Vehicles

Chingiz Hajiyev,Halil Ersin Soken,Sıtkı Yenal Vural
State Estimation and Control for Low cost Unmanned Aerial Vehicles Book PDF

Author : Chingiz Hajiyev,Halil Ersin Soken,Sıtkı Yenal Vural
Publisher : Springer
Page : 232 pages
File Size : 47,5 Mb
Release : 2015-06-10
Category : Technology & Engineering
ISBN : 9783319164175

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State Estimation and Control for Low-cost Unmanned Aerial Vehicles by Chingiz Hajiyev,Halil Ersin Soken,Sıtkı Yenal Vural Pdf

This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.

Remote Sensing and Actuation Using Unmanned Vehicles

Haiyang Chao,Yang Chen
Remote Sensing and Actuation Using Unmanned Vehicles Book PDF

Author : Haiyang Chao,Yang Chen
Publisher : John Wiley & Sons
Page : 248 pages
File Size : 53,6 Mb
Release : 2012-08-28
Category : Technology & Engineering
ISBN : 9781118122761

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Remote Sensing and Actuation Using Unmanned Vehicles by Haiyang Chao,Yang Chen Pdf

Unmanned systems and robotics technologies have become very popular recently owing to their ability to replace human beings in dangerous, tedious, or repetitious jobs. This book fill the gap in the field between research and real-world applications, providing scientists and engineers with essential information on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes. Target scenarios include environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks.

Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots

Christos Papachristos,Tung Dang,Shehryar Khattak,Frank Mascarich,Nikhil Khedekar,Kostas Alexis
Modeling Control State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots Book PDF

Author : Christos Papachristos,Tung Dang,Shehryar Khattak,Frank Mascarich,Nikhil Khedekar,Kostas Alexis
Publisher : Unknown
Page : 71 pages
File Size : 52,7 Mb
Release : 2018
Category : Autonomous robots
ISBN : 1680835491

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Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots by Christos Papachristos,Tung Dang,Shehryar Khattak,Frank Mascarich,Nikhil Khedekar,Kostas Alexis Pdf

This review paper aims to provide an overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. Further discussion for other applications of aerial robots concludes this manuscript.

Refined Safety Control of Unmanned Flight Vehicles via Fractional-Order Calculus

Ziquan Yu,Youmin Zhang,Bin Jiang,Chun-Yi Su
Refined Safety Control of Unmanned Flight Vehicles via Fractional Order Calculus Book PDF

Author : Ziquan Yu,Youmin Zhang,Bin Jiang,Chun-Yi Su
Publisher : CRC Press
Page : 249 pages
File Size : 45,6 Mb
Release : 2023-02-03
Category : Technology & Engineering
ISBN : 9781003837596

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Refined Safety Control of Unmanned Flight Vehicles via Fractional-Order Calculus by Ziquan Yu,Youmin Zhang,Bin Jiang,Chun-Yi Su Pdf

The monograph explores the safety of unmanned flight vehicles via the corresponding fault-tolerant control design methods. The authors analyse the safety control issues of unmanned flight vehicles, which include finite-time recovery against faults, concurrence of actuator faults and sensor faults, concurrence of actuator faults and wind effects, and faults encountered by a portion of unmanned flight vehicles in a distributed communication network. In addition, the commonly used simple but effective proportional-integral-derivative structure is also incorporated into the safety control design for unmanned flight vehicles. By using the fractional-order calculus, the developed safety control results are able to ensure flight safety and achieve the refined performance adjustments against faults and wind effects. The book will be of interest to 3rd/4th year undergraduate students, postgraduate and graduate students, researchers, academic staff, engineers of aircraft and unmanned flight vehicles.

SiGe-based Re-engineering of Electronic Warfare Subsystems

Wynand Lambrechts,Saurabh Sinha
SiGe based Re engineering of Electronic Warfare Subsystems Book PDF

Author : Wynand Lambrechts,Saurabh Sinha
Publisher : Springer
Page : 329 pages
File Size : 40,7 Mb
Release : 2016-10-19
Category : Technology & Engineering
ISBN : 9783319474038

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SiGe-based Re-engineering of Electronic Warfare Subsystems by Wynand Lambrechts,Saurabh Sinha Pdf

This book provides readers a thorough understanding of the applicability of new-generation silicon-germanium (SiGe) electronic subsystems for electronic warfare and defensive countermeasures in military contexts. It explains in detail the theoretical and technical background, and addresses all aspects of the integration of SiGe as an enabling technology for maritime, land, and airborne / spaceborne electronic warfare, including research, design, development, and implementation. The coverage is supported by mathematical derivations, informative illustrations, practical examples, and case studies. While SiGe technology provides speed, performance, and price advantages in many markets, to date only limited information has been available on its use in electronic warfare systems, especially in developing nations. Addressing that need, this book offers essential engineering guidelines that especially focus on the speed and reliability of current-generation SiGe circuits and highlight emerging innovations that help to ensure the sustainable long-term integration of SiGe into electronic warfare systems.

Visual Guidance of Unmanned Aerial Manipulators

Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto
Visual Guidance of Unmanned Aerial Manipulators Book PDF

Author : Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto
Publisher : Springer
Page : 140 pages
File Size : 42,6 Mb
Release : 2018-08-18
Category : Technology & Engineering
ISBN : 9783319965802

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Visual Guidance of Unmanned Aerial Manipulators by Angel Santamaria-Navarro,Joan Solà,Juan Andrade-Cetto Pdf

This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.

Fault Tolerant Attitude Estimation for Small Satellites

Chingiz Hajiyev,Halil Ersin Soken
Fault Tolerant Attitude Estimation for Small Satellites Book PDF

Author : Chingiz Hajiyev,Halil Ersin Soken
Publisher : CRC Press
Page : 353 pages
File Size : 52,9 Mb
Release : 2020-12-22
Category : Technology & Engineering
ISBN : 9781351248822

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Fault Tolerant Attitude Estimation for Small Satellites by Chingiz Hajiyev,Halil Ersin Soken Pdf

Small satellites use commercial off-the-shelf sensors and actuators for attitude determination and control (ADC) to reduce the cost. These sensors and actuators are usually not as robust as the available, more expensive, space-proven equipment. As a result, the ADC system of small satellites is more vulnerable to any fault compared to a system for larger competitors. This book aims to present useful solutions for fault tolerance in ADC systems of small satellites. The contents of the book can be divided into two categories: fault tolerant attitude filtering algorithms for small satellites and sensor calibration methods to compensate the sensor errors. MATLAB® will be used to demonstrate simulations. Presents fault tolerant attitude estimation algorithms for small satellites with an emphasis on algorithms’ practicability and applicability Incorporates fundamental knowledge about the attitude determination methods at large Discusses comprehensive information about attitude sensors for small satellites Reviews calibration algorithms for small satellite magnetometers with simulated examples Supports theory with MATLAB simulation results which can be easily understood by individuals without a comprehensive background in this field Covers up-to-date discussions for small satellite attitude systems design Dr. Chingiz Hajiyev is a professor at the Faculty of Aeronautics and Astronautics, Istanbul Technical University (Istanbul, Turkey). Dr. Halil Ersin Soken is an assistant professor at the Aerospace Engineering Department, Middle East Technical University (Ankara, Turkey).

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 : 51,9 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.

Nonlinear Kalman Filter for Multi-Sensor Navigation of Unmanned Aerial Vehicles

Jean-Philippe Condomines
Nonlinear Kalman Filter for Multi Sensor Navigation of Unmanned Aerial Vehicles Book PDF

Author : Jean-Philippe Condomines
Publisher : Elsevier
Page : 254 pages
File Size : 43,8 Mb
Release : 2018-11-14
Category : Technology & Engineering
ISBN : 9780081027448

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Nonlinear Kalman Filter for Multi-Sensor Navigation of Unmanned Aerial Vehicles by Jean-Philippe Condomines Pdf

Nonlinear Kalman Filter for Multi-Sensor Navigation of Unmanned Aerial Vehicles covers state estimation development approaches for Mini-UAV. The book focuses on Kalman filtering technics for UAV design, proposing a new design methodology and case study related to inertial navigation systems for drones. Both simulation and real experiment results are presented, thus showing new and promising perspectives. Gives a state estimation development approach for mini-UAVs Explains Kalman filtering techniques Introduce a new design method for unmanned aerial vehicles Introduce cases relating to the inertial navigation system of drones

KI 2008: Advances in Artificial Intelligence

Andreas Dengel,Karsten Berns,Thomas M. Breuel,Frank Bomarius,Thomas R. Roth-Berghofer
KI 2008 Advances in Artificial Intelligence Book PDF

Author : Andreas Dengel,Karsten Berns,Thomas M. Breuel,Frank Bomarius,Thomas R. Roth-Berghofer
Publisher : Springer Science & Business Media
Page : 416 pages
File Size : 50,8 Mb
Release : 2008-09-16
Category : Computers
ISBN : 9783540858447

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KI 2008: Advances in Artificial Intelligence by Andreas Dengel,Karsten Berns,Thomas M. Breuel,Frank Bomarius,Thomas R. Roth-Berghofer Pdf

KI 2008 was the 31st Annual German Conference on Arti?cial Intelligence held September 23–26 at the University of Kaiserslautern and the German Research Center for Arti?cial Intelligence DFKI GmbH in Kaiserslautern, Germany. The conference series started in 1975 with the German Workshop on AI (GWAI), which took place in Bonn, and represents the ?rst forum of its type for the German AI Community. Over the years AI has become a major ?eld in c- puter scienceinGermanyinvolvinga numberof successfulprojects thatreceived much international attention. Today KI conferences are international forums where participants from academia and industry from all over the world meet to exchange their recent research results and to discuss trends in the ?eld. Since 1993 the meeting has been called the “Annual German Conference on Arti?cial Intelligence,” designated by the German acronym KI. This volume contains the papers selected out of 77 submissions, including a number of submissions from outside German-speaking countries. In total, 15 submissions (19%) were accepted for oral and 30 (39%) for poster presentation. Oralpresentationsattheconferenceweresingletrack. Becauseofthis,thechoice of presentation form (oral, poster) was based on how well reviews indicated that the paper would ?t into one or the other format. The proceedings allocate the same space to both types of papers. In addition, we selected six papers that show high application potential - scribing systems or prototypical implementations of innovative AI technologies. They are also included in this volume as two-page extended abstracts.

Intermediate Reader of Modern Chinese

Robert F. Stengel
Intermediate Reader of Modern Chinese Book PDF

Author : Robert F. Stengel
Publisher : Princeton University Press
Page : 914 pages
File Size : 50,5 Mb
Release : 2022-11-01
Category : Science
ISBN : 9780691237046

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Intermediate Reader of Modern Chinese by Robert F. Stengel Pdf

An updated and expanded new edition of an authoritative book on flight dynamics and control system design for all types of current and future fixed-wing aircraft Since it was first published, Flight Dynamics has offered a new approach to the science and mathematics of aircraft flight, unifying principles of aeronautics with contemporary systems analysis. Now updated and expanded, this authoritative book by award-winning aeronautics engineer Robert Stengel presents traditional material in the context of modern computational tools and multivariable methods. Special attention is devoted to models and techniques for analysis, simulation, evaluation of flying qualities, and robust control system design. Using common notation and not assuming a strong background in aeronautics, Flight Dynamics will engage a wide variety of readers, including aircraft designers, flight test engineers, researchers, instructors, and students. It introduces principles, derivations, and equations of flight dynamics as well as methods of flight control design with frequent reference to MATLAB functions and examples. Topics include aerodynamics, propulsion, structures, flying qualities, flight control, and the atmospheric and gravitational environment. The second edition of Flight Dynamics features up-to-date examples; a new chapter on control law design for digital fly-by-wire systems; new material on propulsion, aerodynamics of control surfaces, and aeroelastic control; many more illustrations; and text boxes that introduce general mathematical concepts. Features a fluid, progressive presentation that aids informal and self-directed study Provides a clear, consistent notation that supports understanding, from elementary to complicated concepts Offers a comprehensive blend of aerodynamics, dynamics, and control Presents a unified introduction of control system design, from basics to complex methods Includes links to online MATLAB software written by the author that supports the material covered in the book

Advances in Unmanned Aerial Vehicles

Kimon P. Valavanis
Advances in Unmanned Aerial Vehicles Book PDF

Author : Kimon P. Valavanis
Publisher : Springer Science & Business Media
Page : 544 pages
File Size : 55,9 Mb
Release : 2008-02-26
Category : Technology & Engineering
ISBN : 9781402061141

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Advances in Unmanned Aerial Vehicles by Kimon P. Valavanis Pdf

The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.

Small Unmanned Aircraft

Randal W. Beard,Timothy W. McLain
Small Unmanned Aircraft Book PDF

Author : Randal W. Beard,Timothy W. McLain
Publisher : Princeton University Press
Page : 317 pages
File Size : 46,6 Mb
Release : 2012-02-26
Category : Technology & Engineering
ISBN : 9781400840601

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Small Unmanned Aircraft by Randal W. Beard,Timothy W. McLain Pdf

Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Control and Estimation Methods over Communication Networks

Magdi S. Mahmoud
Control and Estimation Methods over Communication Networks Book PDF

Author : Magdi S. Mahmoud
Publisher : Springer
Page : 521 pages
File Size : 42,9 Mb
Release : 2014-07-08
Category : Technology & Engineering
ISBN : 9783319041537

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Control and Estimation Methods over Communication Networks by Magdi S. Mahmoud Pdf

This book provides a rigorous framework in which to study problems in the analysis, stability and design of networked control systems. Four dominant sources of difficulty are considered: packet dropouts, communication bandwidth constraints, parametric uncertainty, and time delays. Past methods and results are reviewed from a contemporary perspective, present trends are examined, and future possibilities proposed. Emphasis is placed on robust and reliable design methods. New control strategies for improving the efficiency of sensor data processing and reducing associated time delay are presented. The coverage provided features: · an overall assessment of recent and current fault-tolerant control algorithms; · treatment of several issues arising at the junction of control and communications; · key concepts followed by their proofs and efficient computational methods for their implementation; and · simulation examples (including TrueTime simulations) to provide hands-on experience. In addition to the theoretical coverage, the author describes a number of applications that demonstrate the real-world relevance of this material, and these include: · a servo system; · a triple inverted pendulum; · power system control; · wireless control of a cart with inverted pendulum and wireless servo application with emphasis on controller area networks; and · switched ethernet and wireless area networks. Researchers and graduate students working in networked and distributed control will find this text a useful guide in avoiding and ameliorating common and serious problems with these systems. The increasing prevalence of networks in many fields of engineering will make Control and Estimation Methods over Communication Networks of interest to practitioners with backgrounds in communications, process engineering, robotics, power, automotive and other areas.

Multisensor Attitude Estimation

Hassen Fourati,Djamel Eddine Chouaib Belkhiat
Multisensor Attitude Estimation Book PDF

Author : Hassen Fourati,Djamel Eddine Chouaib Belkhiat
Publisher : CRC Press
Page : 580 pages
File Size : 45,8 Mb
Release : 2016-11-03
Category : Technology & Engineering
ISBN : 9781498745802

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Multisensor Attitude Estimation by Hassen Fourati,Djamel Eddine Chouaib Belkhiat Pdf

There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.