Stabilization of a Small Unmanned Aerial Vehicle Model without Velocity Measurement

Sylvain, Bertrand; Hamel, Tarek; Piet-Lahanier, Hélène

doi:10.1109/robot.2007.363072

Cited by 13 publications

(5 citation statements)

References 15 publications

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“…The interest in UAVs systems woke because a pilot aboard the aircraft is not required, allowing the use of smaller aircraft, with lower power requirements. These systems can perform dangerous missions in hostile environments or under adverse weather conditions without compromising the physical integrity of the pilot [3]. Nowadays, Searching and Rescue CENTUM company dedicated to developing engineering projects and specialty technology products, developed an unmanned vehicle with a search system in emergency situations.…”

Section: Vertical Takeoff and Landing Vehiclesmentioning

confidence: 99%

WHITE - DONKEY: Unmanned Aerial Vehicle for searching missing people

Moreno¹,

Cruz²,

Dominguez³

2016

ijacsa

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Abstract-Searching for a missing person is not an easy task to accomplish,so over the years search methods have been developed, the problem is that the methods currently available have certain limitations and these limitations are reflected in time location. Time location in a person search is a very important factor that rescuers cannot afford to waste because the missing person is exposed to great dangers. In people search the vision system of the human being plays a very important role. The human visual system has the ability to detect and identify objects such as trees, walls, people among others besides to estimate the distance to them, this gives the human being the possibility of moving in their environment. With the development of artificial intelligence primarily to computer vision it is possible to model the human visual perception and generate computer software needed to simulate these capabilities. Using computer vision is expected to search for any missing person designing and implementing algorithms in order to an Unmanned Aerial Vehicle perform this task, also thanks to the speed of this is expected to reduce the time location. By using of a Unmanned Aerial Vehicle is not intended to replace the human being in the difficult task of searching and rescuing people but rather is intended to serve as a support tool in performing this difficult task.

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Section: Vertical Takeoff and Landing Vehiclesmentioning

confidence: 99%

WHITE - DONKEY: Unmanned Aerial Vehicle for searching missing people

Moreno¹,

Cruz²,

Dominguez³

2016

ijacsa

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“…Un tetramotor es un sistema multivariable que cuenta con seis grados de libertad (x, y, z,pitch, roll y yaw) y subactuado ya que consta de menos actuadores que grados de libertad. Los rotores del tetramotor producen las fuerzas y momentos principales que actúan sobre este, Figura 3 [1]. El balance del torque total del sistema se logra debido a que dos pares de motores rotan en direcciones opuestas.…”

Section: Principio De Operación Del Tetramotorunclassified

White-donkey: búsqueda de personas con vehículos aéreos no tripulados basada en visión por computadora

Escobar¹,

Ramírez²,

Hernández³

et al. 2016

RCS

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Resumen. La búsqueda de una persona extraviada no es una tarea sencilla de llevar a cabo, por lo que a lo largo de los años se han desarrollado metodos de busqueda, el problema es que los métodos actualmente existentes cuentan con ciertas limitantes y estas limitantes se ven reflejadas en el tiempo de localización. En la búsqueda de personas el tiempo de localización es un factor muy importante que los rescatistas no se pueden dar el lujo de desperdiciar ya que la persona extraviada está expuesta a grandes peligros. Haciendo uso de la visión por computadora se espera realizar la detección y búsqueda de alguna persona extraviada. Así, se diseñaron e implementaron algoritmos para que un Vehículo aéreo no tripulado o UAV (Unmanned Aerial Vehicle) lleve a cabo esta tarea, además gracias a la velocidad de este se espera aminorar el tiempo de localización. Con el uso de un UAV no se pretende reemplazar al ser humano en la difícil tarea de buscar y rescatar personas sino que se pretende que sirva como una herramienta de apoyo en la realización de esta difícil tarea.Palabras clave: Visión por computadora, vehículos aéreos no-tripulados, sistemas de búsqueda y rescate, sistema visual humano, cuadricópteros.

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“…Consequently, the dynamic model has the translational velocity vector given by and the rotational velocity vector represented by . The Kinematic model of the quadrotor is [24]: (1) Where and are the transformation velocity matrices between I i and I B respectively. Using the first and the second Newton's laws on the flight system when it is subject to forces and moments, applied to the center of gravity (COG) of the body, one can get the two sub-dynamic model as follows:…”

Section: Dynamic Model Of the Uavmentioning

confidence: 99%

“…For this reasons, numerous nonlinear control design methods (feedback linearization, backstepping, sliding mode, etc.) have been proposed in recent studies [1][2][3][4][5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Robust one-step-ahead model predictive control of VTOL-UAVs

Hedjar

2015

The 27th Chinese Control and Decision Conference (2015 CCDC)

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This paper presents a simple continuous-time controller, based on the minimization of the predicted tracking errors, applied to unmanned aerial vehicle with fixed payload variations. This nonlinear controller ensures the asymptotic stability of the tracking errors of both attitude, take-off, hovering, and landing. To increase the robustness of this algorithm with regards to payload variations, an integral action has been included in height-loop. Simulation results show the effectiveness of the proposed algorithm.

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Stabilization of a Small Unmanned Aerial Vehicle Model without Velocity Measurement

Cited by 13 publications

References 15 publications

WHITE - DONKEY: Unmanned Aerial Vehicle for searching missing people

WHITE - DONKEY: Unmanned Aerial Vehicle for searching missing people

White-donkey: búsqueda de personas con vehículos aéreos no tripulados basada en visión por computadora

Robust one-step-ahead model predictive control of VTOL-UAVs

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