Design of feedback control for quadrotors considering signal transmission delays

Armah, Stephen K.; Yi, Sun; Choi, Wonchang

doi:10.1007/s12555-015-0110-3

Cited by 11 publications

(4 citation statements)

References 22 publications

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“…However, this approach is time-consuming and difficult to apply due to the size and complexity of some structures. In recent years, the development in UAVs capabilities has dramatically changed this procedure [ 12 , 13 ].…”

Section: Background and Related Workmentioning

confidence: 99%

A Robotic Cognitive Architecture for Slope and Dam Inspections

Pinto

Honório

Melo

et al. 2020

Sensors

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Big construction enterprises, such as electrical power generation dams and mining slopes, demand continuous visual inspections. The sizes of these structures and the necessary level of detail in each mission requires a conflicting set of multi-objective goals, such as performance, quality, and safety. It is challenging for human operators, or simple autonomous path-following drones, to process all this information, and thus, it is common that a mission must be repeated several times until it succeeds. This paper deals with this problem by developing a new cognitive architecture based on a collaborative environment between the unmanned aerial vehicles (UAVs) and other agents focusing on optimizing the data gathering, information processing, and decision-making. The proposed architecture breaks the problem into independent units ranging from sensors and actuators up to high-level intelligence processes. It organizes the structures into data and information; each agent may request an individual behavior from the system. To deal with conflicting behaviors, a supervisory agent analyzes all requests and defines the final planning. This architecture enables real-time decision-making with intelligent social behavior among the agents. Thus, it is possible to process and make decisions about the best way to accomplish the mission. To present the methodology, slope inspection scenarios are shown.

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Section: Background and Related Workmentioning

confidence: 99%

A Robotic Cognitive Architecture for Slope and Dam Inspections

Pinto

Honório

Melo

et al. 2020

Sensors

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“…In this paper, the constant delay applied in the drone's altitude control system was estimated using an approach based on analytical solutions to DDEs [19,20]. The time delay has been estimated as 0.36s in [21,22]. The altitude dynamics was assumed to be linear time-invariant (LTI) first order and the time delay, assumed to be single constant, was incorporated into the model as an explicit parameter.…”

Section: Robotics and Automation Engineering Journalmentioning

confidence: 99%

“…, a first order plant, used in [19,20] for the estimation of the delay, then this time-delay system will be neutral type, see [21,22] for analysis of such control system. Also, if 1 ( ) G s s = and then we have a P-control, retarded type time-delay, system.…”

Section: Non-adaptive Control: Pvmentioning

confidence: 99%

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Adaptive Control for Quadrotor UAVs Considering Time Delay: Study with Flight Payload

Armah

2018

RAEJ

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Design of effective control for unmanned aerial vehicles (UAVs) requires consideration of several sources of uncertainty. These undesired uncertainties affect the flight stability and performance in an unpredictable manner. The existence of transmission delays caused by wireless communication and payload variation are among such critical challenges. Adaptive control (AC) can lead to high performance tracking in the presence of uncertainties. This paper presents the application of model reference adaptive control (MRAC) to quadrotor types of UAVs considering the time delay in the altitude control system. MATLAB system identification tool is applied to obtain the altitude motion model, without time delay, for the quadrotor. Proportional-plus-velocity (PV) and PV-MRAC altitude control systems are designed, by incorporating an estimated constant time delay. The designed controllers are validated using simulations and flight tested in an indoor environment. The robustness of the PV-MRAC controller is tested against the baseline non-adaptive PV controller using the quadrotor's payload capability..

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Analysis of Time Delays in Quadrotor Systems and Design of Control

Armah

2017

Advances in Delays and Dynamics

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Design of feedback control for quadrotors considering signal transmission delays

Cited by 11 publications

References 22 publications

A Robotic Cognitive Architecture for Slope and Dam Inspections

A Robotic Cognitive Architecture for Slope and Dam Inspections

Adaptive Control for Quadrotor UAVs Considering Time Delay: Study with Flight Payload

Analysis of Time Delays in Quadrotor Systems and Design of Control

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