Modelling And Control Of Mini Flying Machines

Author: Pedro Castillo Garcia
Editor: Springer Science & Business Media
ISBN: 1846281792
File Size: 31,47 MB
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Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft: • Planar Vertical Take-off and Landing aircraft; • helicopters; • quadrotor mini-rotorcraft; • other fixed-wing aircraft; • blimps. For each of these it propounds: • detailed models derived from Euler-Lagrange methods; • appropriate nonlinear control strategies and convergence properties; • real-time experimental comparisons of the performance of control algorithms; • review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; • detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area.

Autonomous Flying Robots

Author: Kenzo Nonami
Editor: Springer Science & Business Media
ISBN: 9784431538561
File Size: 67,58 MB
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The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

New Trends In Robot Control

Author: Jawhar Ghommam
Editor: Springer Nature
ISBN: 981151819X
File Size: 12,32 MB
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This book presents solutions to control problems in a number of robotic systems and provides a wealth of worked-out examples with full analytical and numerical details, graphically illustrated to aid in reader comprehension. It also presents relevant studies on and applications of robotic system control approaches, as well as the latest findings from interdisciplinary theoretical studies. Featuring chapters on advanced control (fuzzy, neural, backstepping, sliding mode, adaptive, predictive, diagnosis, and fault-tolerant control), the book will equip readers to easily tailor the techniques to their own applications. Accordingly, it offers a valuable resource for researchers, engineers, and students in the field of robotic systems.

Model Predictive Control Of Wastewater Systems

Author: Carlos Ocampo-Martinez
Editor: Springer Science & Business Media
ISBN: 9781849963534
File Size: 47,71 MB
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The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies ..., new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. The water and wastewater industry has undergone many changes in recent years. Of particular importance has been a renewed emphasis on improving resource management with tighter regulatory controls setting new targets on pricing, industry efficiency and loss reduction for both water and wastewater with more stringent environmental discharge conditions for wastewater. Meantime, the demand for water and wastewater services grows as the population increases and wishes for improved living conditions involving, among other items, domestic appliances that use water. Consequently, the installed infrastructure of the industry has to be continuously upgraded and extended, and employed more effectively to accommodate the new demands, both in throughput and in meeting the new regulatory conditions. Investment in fixed infrastructure is capital-intensive and slow to come on-stream. One outcome of these changes and demands is that the industry is examining the potential benefits of, and in many cases using, more advanced control systems.

Extremum Seeking Control And Applications

Author: Chunlei Zhang
Editor: Springer Science & Business Media
ISBN: 9781447122241
File Size: 74,68 MB
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Extremum-seeking control tracks a varying maximum or minimum in a performance function such as output or cost. It attempts to determine the optimal performance of a control system as it operates, thereby reducing downtime and the need for system analysis. Extremum-seeking Control and Applications is divided into two parts. In the first, the authors review existing analog-optimization-based extremum-seeking control including gradient-, perturbation- and sliding-mode-based control designs. They then propose a novel numerical-optimization-based extremum-seeking control based on optimization algorithms and state regulation. This control design is developed for simple linear time-invariant systems and then extended for a class of feedback linearizable nonlinear systems. The two main optimization algorithms – line search and trust region methods – are analyzed for robustness. Finite-time and asymptotic state regulators are put forward for linear and nonlinear systems respectively. Further design flexibility is achieved using the robustness results of the optimization algorithms and the asymptotic state regulator by which existing nonlinear adaptive control techniques can be introduced for robust design. The approach used is easier to implement and tends to be more robust than those that use perturbation-based extremum-seeking control. The second part of the book deals with a variety of applications of extremum-seeking control: a comparative study of extremum-seeking control schemes in antilock braking system design; source seeking, formation control, collision and obstacle avoidance for groups of autonomous agents; mobile radar networks; and impedance matching. MATLAB®/Simulink® code which can be downloaded from www.springer.com/ISBN helps readers to reproduce the results presented in the text and gives them a head start for implementing the algorithms in their own applications. Extremum-seeking Control and Applications will interest academics and graduate students working in control, and industrial practitioners from a variety of backgrounds: systems, automotive, aerospace, communications, semiconductor and chemical engineering.

Dry Clutch Control For Automotive Applications

Author: Pietro J. Dolcini
Editor: Springer Science & Business Media
ISBN: 9781849960687
File Size: 70,96 MB
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Dry Clutch Control for Automated Manual Transmission Vehiclesanalyses the control of a part of the powertrain which has a key role in ride comfort during standing-start and gear-shifting manoeuvres. The mechanical conception of the various elements in the driveline has long since been optimised so this book takes a more holistic system-oriented view of the problem featuring: a comprehensive description of the driveline elements and their operation paying particular attention to the clutch, a nonlinear model of the driveline for simulation and a simplified model for control design, with a standing-start driver automaton for closed loop simulation, a detailed analysis of the engagement operation and the related comfort criteria, different control schemes aiming at meeting these criteria, friction coefficient and unknown input clutch torque observers, practical implementation issues and solutions based on experience of implementing optimal engagement strategies on two Renault prototypes.

Adaptive Voltage Control In Power Systems

Author: Giuseppe Fusco
Editor: Springer Science & Business Media
ISBN: 1846285658
File Size: 63,35 MB
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Adaptive Voltage Control in Power Systems, a self-contained blend of theory and novel application, offers in-depth treatment of such adaptive control schemes. Coverage moves from power-system-modelling problems through illustrations of the main adaptive control systems, including self-tuning, model-reference and nonlinearities compensation to a detailed description of design methods: Kalman filtering, parameter-identification algorithms and discrete-time controller design are all represented. Case studies address applications issues in the implementation of adaptive voltage control.

Robot Motion And Control 2007

Author: Krzysztof R. Kozlowski
Editor: Springer Science & Business Media
ISBN: 9781846289736
File Size: 12,48 MB
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Robot Motion Control 2007 presents very recent results in robot motion and control. Forty-one short papers have been chosen from those presented at the sixth International Workshop on Robot Motion and Control held in Poland in June 2007. The authors of these papers have been carefully selected and represent leading institutions in this field.

Strapdown Inertial Navigation Technology

Author: David H. Titterton
Editor: Peter Peregrinus Limited
ISBN:
File Size: 32,75 MB
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Inertial navigation is widely used for the guidance of aircraft, ships, missiles and vehicles. This introduction to the system covers basic principles, system mechanics, instrumentation, computation and design analysis. The text features a particularly contemporary treatment of inertial sensors and computational techniques for error analysis. It also describes integrated systems incorporating additional navigational aids and examples of current applications in both civilian and military situations.

Dissipative Systems Analysis And Control

Author: Bernard Brogliato
Editor: Springer Science & Business Media
ISBN: 1846285178
File Size: 64,83 MB
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This second edition of Dissipative Systems Analysis and Control has been substantially reorganized to accommodate new material and enhance its pedagogical features. It examines linear and nonlinear systems with examples of both in each chapter. Also included are some infinite-dimensional and nonsmooth examples. Throughout, emphasis is placed on the use of the dissipative properties of a system for the design of stable feedback control laws.

Journal Of Guidance Control And Dynamics

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File Size: 30,98 MB
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The British National Bibliography

Author: Arthur James Wells
Editor:
ISBN:
File Size: 69,34 MB
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Quad Rotorcraft Control

Author: Luis Rodolfo García Carrillo
Editor: Springer Science & Business Media
ISBN: 144714399X
File Size: 36,46 MB
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Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.

Flight Control Of Unmanned Rotorcrafts For Enhanced Situational Awareness

Author: Igor Astrov
Editor: Nova Science Pub Incorporated
ISBN: 9781619423114
File Size: 58,96 MB
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The need for highly reliable and stable maneuvers for unmanned rotorcrafts (URs) class of unmanned aerial vehicle (UAVs) has increased morbidly for critical situations in real-time search-and-rescue operations for fast situational awareness (SA). A rotorcraft is a heavier-than-air flying machine that obtains its lift from rotors. SA is simply being aware of what is going on around you. This book provides basic approaches for the modeling and simulation of control systems on the basis of equations of motion for various types of models of rotorcrafts (miniature helicopter, intermediate helicopter, coaxial rotor/ducted fan mini-UAV, trirotor mini-UAV, vectored thrust mini-UAV, quadrotor mini-UAV, X4-flyer mini-UAV, eight-rotor mini-UAV) with emphasis on the modeling and simulation of realistic dynamics for fast SA. The effectiveness of the proposed research technique has been verified in field of flight simulation tests for chosen control models of the URs using software package Simulink. From the simulation results it can be seen that the UR models demonstrated an advantage in achieving good maneuverability in controlled flight during missions and good performance for fast stabilization of engines during maneuvers, consequently, fast SA with economy in energy of batteries can be asserted during missions, and the duration of missions can be longer. The principal audiences for this book are faculty members, practitioners, researchers, and graduate and postgraduate students.

Consumers Index To Product Evaluations And Information Sources

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File Size: 34,40 MB
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International Journal Of Mini Microcomputers

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ISBN:
File Size: 77,60 MB
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International Aerospace Abstracts

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ISBN:
File Size: 40,79 MB
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