Feedback Control of Quad-Rotors with a Matlab-Based Simulator

Armah, Stephen K.; Yi, Sun; Choi, Wonchang; Shin, Dong-Chul

doi:10.3844/ajassp.2016.779.793

Cited by 6 publications

(4 citation statements)

References 4 publications

(3 reference statements)

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“…where T is the thrust vector for each propeller, Γ is the torque vector applied to the airframe, b represents the lift constant, d is the distance from the rotor to the center of the mass, and k is secondary lift constant. The control structure employed to fly the quadrotor can be found in [3,9], and is based on Proportional Derivative action to get the quadrotor's attitude (roll, pitch, yaw) and altitude.…”

Section: Quadrotor Flight Controllermentioning

confidence: 99%

See 1 more Smart Citation

A Design Methodology for Energy-Aware Processing in Unmanned Aerial Vehicles

HeJingyu

XiaoYao

BogdanCorina

et al. 2021

ACM Trans. Des. Autom. Electron. Syst.

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Unmanned Aerial Vehicles (UAVs) have rapidly become popular for monitoring, delivery, and actuation in many application domains such as environmental management, disaster mitigation, homeland security, energy, transportation, and manufacturing. However, the UAV perception and navigation intelligence (PNI) designs are still in their infancy and demand fundamental performance and energy optimizations to be eligible for mass adoption. In this article, we present a generalizable three-stage optimization framework for PNI systems that (i) abstracts the high-level programs representing the perception, mining, processing, and decision making of UAVs into complex weighted networks tracking the interdependencies between universal low-level intermediate representations; (ii) exploits a differential geometry approach to schedule and map the discovered PNI tasks onto an underlying manycore architecture. To mine the complexity of optimal parallelization of perception and decision modules in UAVs, this proposed design methodology relies on an Ollivier-Ricci curvature-based load-balancing strategy that detects the parallel communities of the PNI applications for maximum parallel execution, while minimizing the inter-core communication; and (iii) relies on an energy-aware mapping scheme to minimize the energy dissipation when assigning the communities onto tile-based networks-on-chip. We validate this approach based on various drone PNI designs including flight controller, path planning, and visual navigation. The experimental results confirm that the proposed framework achieves 23% flight time reduction and up to 34% energy savings for the flight controller application. In addition, the optimization on a 16-core platform improves the on-time visit rate of the path planning algorithm by 14% while reducing 81% of run time for ConvNet visual navigation.

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Section: Quadrotor Flight Controllermentioning

confidence: 99%

“…The reason is that array declaration in C/C++ programs corresponds to an IR instruction called "getelementptr". 3 Therefore, all array-related operations depend on this instruction. This node is becoming central and the betweenness is very high due to array operations.…”

Section: Definition 42mentioning

confidence: 99%

A Design Methodology for Energy-Aware Processing in Unmanned Aerial Vehicles

HeJingyu

XiaoYao

BogdanCorina

et al. 2021

ACM Trans. Des. Autom. Electron. Syst.

View full text Add to dashboard Cite

show abstract

“…where T is the thrust vector for each propeller, Γ is the torque vector applied to the airframe, b represents the lift constant, d is the distance from the rotor to the center of the mass and k is secondary lift constant. The control structure employed to fly the quadrotor can be found in [6,2], and is based on Proportional Derivative action to get the quadrotor's attitude (roll, pitch, yaw) and altitude.…”

Section: Brief Overview Of the Basics Of The Uavmentioning

confidence: 99%

Design Methodology for Energy Efficient Unmanned Aerial Vehicles

He,

Xiao,

Bogdan

et al. 2019

Preprint

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In this paper, we present a loadbalancing approach to analyze and partition the UAV perception and navigation intelligence (PNI) code for parallel execution, as well as assigning each parallel computational task to a processing element in an Network-on-chip (NoC) architecture such that the total communication energy is minimized and congestion is reduced. First, we construct a data dependency graph (DDG) by converting the PNI high level program into Low Level Virtual Machine (LLVM) Intermediate Representation (IR). Second, we propose a scheduling algorithm to partition the PNI application into clusters such that (1) inter-cluster communication is minimized, (2) NoC energy is reduced and (3) the workloads of different cores are balanced for maximum parallel execution. Finally, an energy-aware mapping scheme is adopted to assign clusters onto tile-based NoCs. We validate this approach with a drone selfnavigation application and the experimental results show that we can achieve up to 8.4x energy reduction and 10.5x performance speedup.

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“…Armah vd. [7], dört rotorlu İHA'larda yuvarlanma, yunuslama ve sapma açılarının kontrolü için Matlab/Simulink ortamında PID tabanlı kontrolcü tasarlamış ve testini yapmıştır. Arıbal [8], İHA'larda iniş evresi için PID, SM ve doğrusal karesel izleyici (LQT) tabanlı otopilot tasarımını ve matematiksel model üzerinden testini gerçekleştirmiştir.…”

Section: Gi̇ri̇ş (Introduction)unclassified

Sabit Kanatlı Hava Araçları için Otopilot Tasarımı ve Benzetimi

Çantaş

Akbulut

2022

Politeknik Dergisi

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Bu makalede insanlı ve insansız sabit kanatlı hava araçları için otopilot tasarımı ve benzetimi gerçekleştirilmiştir. Öncelikle doğrusal olmayan iki farklı platform modeli, Matlab/Simulink ortamında belirlenen denge (trim) koşullarında doğrusallaştırılmış ve elde edilen doğrusal modeller ile doğrusal olmayan modellerin karşılaştırması yapılmıştır. Seçilen iki farklı platform modeli için Matlab/Simulink ortamında PID tabanlı otopilotun geliştirilmesi ve testi yapılmıştır. Test sonuçları verilmiştir. Geliştir ilen otopilotun X-Plane programı ile yazılım döngüsü (SIL) tabanlı benzetim ortamı hazırlanmış ve benzetim sonuçları gösterilmiştir. Buna ek olarak, platformlardan bir tanesinde yapısal değişikliğe gidilmiş ve yapısal değişiklikler sonrasında ortaya çıka n yeni platform için Matlab/Simulink ortamında hem PID tabanlı hemde LQR tabanlı otopilot geliştirilmesi ve testi yapılmıştır. Test sonuçları verilmiştir. Son olarak platformda yapısal değişimden kaynaklı ağırlık değişiminin otopilot üzerine etkisi incelen miştir. Ele alınan kontrol yöntemlerinin, otopilot sistemleri için uygulanabilir olduğu ve yeni geliştirilecek sabit kanatlı hava aracı modelleri için kullanılabilir olduğu test ve benzetim ortamları kurularak gösterilmiştir. Geliştirilen otopilot sistemle ri, kurulan benzetim altyapısı ile gerçek platform üzerinde ihtiyaç duyulan uçuş test sayısı ve maliyetin azaltılmasının mümkün hale gelmiştir.

show abstract

Feedback Control of Quad-Rotors with a Matlab-Based Simulator

Cited by 6 publications

References 4 publications

A Design Methodology for Energy-Aware Processing in Unmanned Aerial Vehicles

A Design Methodology for Energy-Aware Processing in Unmanned Aerial Vehicles

Design Methodology for Energy Efficient Unmanned Aerial Vehicles

Sabit Kanatlı Hava Araçları için Otopilot Tasarımı ve Benzetimi

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