Control architecture and simulation of the Borea quadrotor

Abstract

The paper presents modelling, control design and simulated results preliminary to test the Borea quadrotor. Guidance, navigation and control strategy are implemented following the Embedded Model Control (EMC) scheme.

A novel algorithm for integrated control model using swarm robots for intruder detection and rescue schedules

“…On the basis of these mentioned capabilities, ICM is very efficient to remove the uncertainty in situations where relevant disturbances, modeling errors and non-linearity are there [5,37]. Standard PID controller was compared with the present ICM controller test results, and it was found from the above discussion, that performance of ICM is far better than that of normal and standard PID controller methods in terms of accuracy and precision with disturbance rejection as swarm robot is affected by non-linearity and uncertainty [17,29,38]. PSO flow chart is given in given in Fig.…”

“…Meta-heuristic swarm Optimization control algorithms play an important role in such type of developed applications [4]. Swarm robots were built and were a part of the project as a real world application with the introductory studies and simulations that were also carried out [17,18]. Improvement of a solitary swarm robot actuator and distinguishing proof of model for control procedure was created by the blend of an established Hammerstein-Wiener structure [19,20] with the LTI framework.…”

“…The ICM includes advanced observers and control laws for measuring state values and providing active interference cancellation [1]. Based on these capabilities, ICM is very effective in eliminating interference, modeling errors and uncertainty in the presence of nonlinearities [6,17]. The standard PID controller is compared with the current ICM controller test results.…”

Identification and control of a quadrotor from experimental data

“…The work presented in this paper has been carried out within the Borea Project (see [1], [2]). This project aims to emulate, using an Unmanned Aerial Vehicle (UAV), guidance, navigation and control strategies to be employed in space applications.…”

“…A real UAV (more precisely, a quadrotor) was already constructed within the Borea project, see [1]. Preliminary studies and simulations, finalized at the design of the quadrotor control unit were also carried out, see [1], [2]. Based on these preliminary activities, three main contributions are provided in the present paper.…”