LQG control design for a hovering micro air vehicle using an optical tracking system

Hendrix, Constance D.; Veth, Michael J.; Carr, Ryan

doi:10.1109/aero.2009.4839610

Cited by 4 publications

(13 citation statements)

References 6 publications

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“…However, indoor flight comes up with some very challenging requirements in terms of size, weight and maneuverability of the vehicle that rule out most of the aircraft types [30]. First, though there are alternative methods already applied to ground robots, localization in six dimensions during flight requires considerably more data.…”

Section: B Indoor Navigationmentioning

confidence: 99%

“…MINIATURISATIONThe major miniaturization of the electronic industry and increasing storage capacity allows the reduction in size of UAVs. This in hand is automatically beneficial because it produces flying devices that are downscaled which are: Smaller in size where efficiency increased Lesser in weight Path rotational evolution as Agent 1 takes flight from origin to desired destination(30,100,10) …”

mentioning

confidence: 99%

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A review of autonomous multi-agent quad-rotor control techniques and applications

Nathan

Almurib

Kumar

2011

2011 4th International Conference on Mechatronics (ICOM)

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The theory analysis of this review is applied to the task of controlling and maneuvering the quad-rotor. The singular four rotor flying vehicle is designed, optimized and applied to the expanded multi-agent system. This produces an evaluation and discussion of the most common and lesser known control laws used to navigate the vehicle as it performs basic translational and rotational motions. Related works based on the complexity of successful collision avoidance and formation between multi-agent quad-rotors is evaluated. A comparison is made between the advantages and disadvantages of each design to allow an understanding of the current research in the field of the multiagent four rotor flying vehicle. The achievements and applications of the intelligent multi-agent system are then addressed. Lastly, future prospects and challenges to overcome are suggested.

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Section: B Indoor Navigationmentioning

confidence: 99%

mentioning

confidence: 99%

A review of autonomous multi-agent quad-rotor control techniques and applications

Nathan

Almurib

Kumar

2011

2011 4th International Conference on Mechatronics (ICOM)

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“…El algoritmo de procesamiento de imágenes se implementó haciendo uso de las librerías de OpenCV [13]. En primer lugar se realiza un algoritmo filtrado basado en color para conservar solamente los pixeles similares al color del patrón (en este caso círculos de color rojo), posteriormente se elimina el ruido con un filtro Gaussiano y se aplica la transformada de Hough [14] para la detección del patrón (Fig. 5), esta función debe ser sintonizada con la intensidad de luminosidad del ambiente en el que se encuentra con el fin de mejorar el rendimiento del algoritmo.…”

Section: Detección Y Localización De Los Patronesunclassified

“…La empresa alemana Festo ha desarrollado un vehículo aéreo no tripulado con forma de libélula, BionicOpter [8] cuenta con cuatro alas que operan de forma independiente, construidas en fibra de carbono, poliéster y aluminio, con ello consiguen que el conjunto pese menos de 175 gramos (el cuerpo está constituido por plástico ABS, aluminio y fibra). El dispositivo es capaz de volar hacia delante y hacia atrás, moverse lateralmente, flotar en un lugar, e incluso realizar vuelo sin motor.…”

Section: Introductionunclassified

Sistema de inspección y vigilancia utilizando un robot aéreo guiado mediante visión artificial

Bohórquez¹,

Mendoza²,

Cortés³

2014

Iteckne

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Resumen-Este artículo presenta el desarrollo de un sistema de inspección y vigilancia el cual procesa las imágenes de las cámaras abordo con el fin de realizar una navegación autónoma o semiautónoma, según como el usuario lo especifique. El dispositivo aéreo utilizado es un cuadrotor, al que se le implementaron varias estrategias de control servo-visual para determinar la orientación, la posición del mismo y así seguir una trayectoria demarcada. Las imágenes de la segunda cámara del robot aéreo son transmitidas por la red permitiendo la inspección remota del lugar que se desea confrontar. Se realizaron las verificaciones correspondientes a los controladores, demostrando que el robot aéreo sigue diversos tipos de trayectorias satisfactoriamente. Palabras clave-Autónomo, inspección, navegación, robot aéreo, visiónAbstract-This paper presents the development of an inspection system and monitoring which processes the onboard camera images in order to perform an autonomous or semi-autonomous navigation, depending on how the user specified. The aerial device used is a quadrotor, which is implemented several strategies servovisual control to determine the orientation, the position thereof and thus follow a path demarcated. The images of the second aerial robot camera are transmitted over the network allowing remote inspection of the place you want to confront. Checks were made corresponding to the controllers, showing that the robot follows diverse types of air paths satisfactorily.

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“…The development of a precise dynamic model of the small coaxial helicopter was initiated by Bouabdallah et al, 4 which is one of the most complete models developed. Related efforts by Chen and McKerrow, 1 Hendrix et al, 5 Wang et al 6 and finally Dzul et al 7 differ in the further assumptions made to help simplify the overall model. For example, Wang et al 6 restrict their model to operating points close to hover conditions using small angle approximations earlier in the model derivation and Hendrix et al 5 use a quadratic polynomial fit to thrust data in place of the usual thrust equation.…”

Section: Introductionmentioning

confidence: 98%

Modelling and Multivariable Control Techniques for Small Coaxial Helicopters

Mukherjee

Waslander

2011

AIAA Guidance, Navigation, and Control Conference

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Autonomous flight of small coaxial helicopters (< 70cm rotor diameter) poses significant challenges in terms of comprehensive yet computationally feasible modeling and control. The coaxial platform provides several advantages at small scales in terms of size, footprint, efficiency and stability. This study compares techniques used for the modeling and control of such an aircraft in order to identify a viable control design for an experimental platform. Models of the various thrust, servo and motor dynamics are presented, and the fidelity of the model is assessed. In terms of control techniques, linear methods such as PID, LQR and H∞ mixed synthesis are presented. PID control is generally found to be ineffective in most cases including trajectory tracking and disturbance rejection. LQR and H∞ control techniques outperform PID in this regard and provide respectable results. Furthermore, the H∞ control scheme is especially effective in achieving tighter trajectories.

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LQG control design for a hovering micro air vehicle using an optical tracking system

Cited by 4 publications

References 6 publications

A review of autonomous multi-agent quad-rotor control techniques and applications

A review of autonomous multi-agent quad-rotor control techniques and applications

Sistema de inspección y vigilancia utilizando un robot aéreo guiado mediante visión artificial

Modelling and Multivariable Control Techniques for Small Coaxial Helicopters

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