Vibration reduction for vision systems on board unmanned aerial vehicles using a neuro-fuzzy controller

Abstract

This is the accepted version of the paper.This version of the publication may differ from the final published version. In this paper, an intelligent control approach based on Neuro-Fuzzy systems performance is presented with the objective of counteracting the vibrations that affect the low-cost vision platform onboard an unmanned aerial system of rotating nature. Permanent repository linkA scaled dynamical model of a helicopter is used to simulate vibrations on its fuselage. The impact of these vibrations on the low-cost vision system will be assessed and an intelligent control approach will be derived in order to reduce its detrimental influence.Different trials that consider a Neuro-Fuzzy approach as a fundamental part of an intelligent semi-active control strategy have been carried out. Satisfactory results have been achieved compared to those obtained by means of vibration reduction passive techniques.

Innovative Dodecacopter Design – Bulgarian Knight

“…The vibrations caused by the rotors in UAVs is a significant issue in the drone optimization domain. A number of authors have addressed this problem and sought to solve it through different means (Marichal, Rodriguez, & Rivera, 2013;Radkowski & Szulim, 2014;Verbeke & Debruyne, 2016). By introducing a larger number of smaller rotors, the noise and vibrations frequency band will raise towards higher frequencies where vibrations filtration through mechanical dumping is much easier.…”

Helicopter flap/lag energy exchange study

“…For VehicleSim modelling purposes, the following considerations are made regarding the physical structure of the main rotor (see [25,26]):…”

Quadrotor multibody modelling by vehiclesim: adaptive technique for oscillations in a PVA control system

“…The software used in this work is VehicleSim (VehicleSim, 2014), a modelling and rigid multibody simulation software. This software has been used previously by members of this research group in modelling and control of various vehicle systems such as motorcycles (Ramirez et al, 2012(Ramirez et al, , 2013Ramirez and Toma´s-Rodrı´guez, 2014), and helicopters (Marichal et al, 2012(Marichal et al, , 2014. Its old version, Autosim, allowed the modelling of several mechanical system in a similar manner to the work here presented (Evangelou et al, 2008(Evangelou et al, , 2012Toma´s-Rodrı´guez and Sharp, 2007).…”