Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters

Omari, Sammy; Hua, Minh‐Duc; Ducard, Guillaume; Hamel, Tarek

doi:10.1109/tmech.2013.2274558

Cited by 43 publications

(21 citation statements)

References 39 publications

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“…In order to reduce the white noise interference by using the control method of the sliding mode controller and the fuzzy reasoning mechanism, the paper analyzes the attitude analysis system by using the Lyapunov stability theory, and analyzes the attitude control of the unmanned aerial vehicle by using the control method of the unmanned aerial vehicle. The degradation of the white noise interference, and confirmed the effectiveness of the control method [57]. The Mississippi University of Science and Technology [58] uses the neural network based output feedback control for the underactuated system of the four-cantilever aircraft, using Lyapunov to track the attitude of the aircraft and effectively control the aircraft under nonlinear and bounded disturbances The University of Texas at Dallas [59].…”

Section: Software Robot Research Resultsmentioning

confidence: 76%

Research on Intelligent Flight Software Robot Based on Internet of Things

Hou¹,

Wang²

2017

Global J Technol Optim

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Abstract2010 China Internet of Things Application Promotion Union pointed out that the robot is one of the 100 leading edge technology. 2015, the forefront of the field of robot top10 technology, including Internet of things embedded technology, simulation technology, large data technology, cloud computing robot, robot autonomy technology and so on. The robot uses the sensor technology in the key technology of the Internet of Things. In order to make life better and more convenient, the research of Internet of Things technology and application, focusing on research based on the Internet of intelligent flight spherical monitoring software robot technology. In this paper, you can use mat lab simulation robot and programming algorithm, the use of advanced programming language to develop intelligent flight robots. The research results of intelligent flight monitoring software robot technology can be applied in academia and industry and medical transportation. This paper studies the intelligent flight monitoring software robot under the Internet of Things.

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Section: Software Robot Research Resultsmentioning

confidence: 76%

Research on Intelligent Flight Software Robot Based on Internet of Things

Hou¹,

Wang²

2017

Global J Technol Optim

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“…This symmetry allows for centralization of payload and control systems. However, their dynamic control system is highly nonlinear and very complicated and requires a highly sophisticated control techniques to control it [39,40]. Each arm contains an actuator with a fixed-pitch propeller, and its airflow goes downwards to provide lift.…”

Section: Uav Systemmentioning

confidence: 99%

Low-Altitude Aerial Methane Concentration Mapping

2017

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Detection of leaks of fugitive greenhouse gases (GHGs) from landfills and natural gas infrastructure is critical for not only their safe operation but also for protecting the environment. Current inspection practices involve moving a methane detector within the target area by a person or vehicle. This procedure is dangerous, time consuming, labor intensive and above all unavailable when access to the desired area is limited. Remote sensing by an unmanned aerial vehicle (UAV) equipped with a methane detector is a cost-effective and fast method for methane detection and monitoring, especially for vast and remote areas. This paper describes the integration of an off-the-shelf laser-based methane detector into a multi-rotor UAV and demonstrates its efficacy in generating an aerial methane concentration map of a landfill. The UAV flies a preset flight path measuring methane concentrations in a vertical air column between the UAV and the ground surface. Measurements were taken at 10 Hz giving a typical distance between measurements of 0.2 m when flying at 2 m/s. The UAV was set to fly at 25 to 30 m above the ground. We conclude that besides its utility in landfill monitoring, the proposed method is ready for other environmental applications as well as the inspection of natural gas infrastructure that can release methane with much higher concentrations.

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“…Theoretical work has been done in understanding the dynamics of multirotor vehicles, such as quadrotors [1,2,3], hexarotors [4,5] and octorotors [6,7]. Similarly, the problem of controlling variable scaled-size helicopters has been investigated in [8], while in [9] the problem of accounting for servo actuation delay is studied.…”

Section: Related Workmentioning

confidence: 99%

“…Indicatively, it means that each 15 minutes of flight leads to the production of about 50 MB of data 4 . Thereby, the other advantage of having a fully customizable solution for data recording is that the system can be easily configured to monitor the incoming data without recording and enable/disable recording upon the recognition of a provided set of events.…”

Section: ) Data Acquisition Unitmentioning

confidence: 99%

A low-power architecture for high frequency sensor acquisition in many-DOF UAVs

Mancuso

Dantsker

Caccamo

et al. 2014

2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS)

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Abstract-Unmanned Aerial Vehicles (UAVs) are becoming increasingly popular thanks to an increase in the accessibility of components with high reliability and reduced cost, making them suitable for civil, military and research purposes. Vehicles classified as UAVs can have largely different properties in terms of physical design, size, power, capabilities, as well as associated production and operational cost. In this work, we target UAVs that feature a high number of degrees of freedom (DOF) and that are instrumented with a large number of sensors. For such platforms, we propose an architecture to perform data acquisition from on-board instrumentation at a frequency (100 Hz) that is twice as fast as existing products. Our architecture is capable of performing acquisition with strict timing constraints, thus, the produced data stream is suitable for performing real-time sensor fusion. Furthermore, our architecture can be implemented using embedded, commercial hardware, resulting in a low-cost solution. Finally, the resulting data acquisition unit features a low-power consumption, allowing it to operate for two to three hours with a miniature battery.

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Hardware and Software Architecture for Nonlinear Control of Multirotor Helicopters

Cited by 43 publications

References 39 publications

Research on Intelligent Flight Software Robot Based on Internet of Things

Research on Intelligent Flight Software Robot Based on Internet of Things

Low-Altitude Aerial Methane Concentration Mapping

A low-power architecture for high frequency sensor acquisition in many-DOF UAVs

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