9781118599938

This book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated in experimental platforms.

Chapter 1 Aerodynamic Configurations and Dynamic Models (Alejandro Dzul).

1.1 Aerodynamic configurations.

1.2 Dynamic models.

1.3 Bibliography.

Chapter 2 Nested Saturation Control for Stabilizing the PVTOL Aircraft (Amparo Palomino).

2.1 Introduction.

2.2 Bibliographical study.

2.3 The PVTOL aircraft model.

2.4 Control strategy.

2.5 Other control strategies for the stabilization of the PVTOL aircraft.

2.6 Experimental results.

2.7 Conclusions.

2.8 Bibliography.

Chapter 3 Two-Rotor VTOL Mini UAV: Design, Modeling and Control (Eduardo Rondon).

3.1 Introduction.

3.2 Dynamic model.

3.3 Control strategy.

3.4 Experimental setup.

3.5 Concluding remarks.

3.6 Bibliography.

Chapter 4 Autonomous Hovering of a Two-Rotor UAV (Octavio Garcia).

4.1 Introduction.

4.2 Two-rotor UAV.

4.3 Control algorithm design.

4.4 Experimental platform.

4.5 Conclusion.

4.6 Bibliography.

Chapter 5 Modeling and Control of a Convertible Plane UAV (Victor Rosas).

5.1 Introduction.

5.2 Convertible plane UAV.

5.3 Mathematical model.

5.4 Controller design.

5.5 Embedded system.

5.6 Conclusions and future works.

5.7 Bibliography.

Chapter 6 Control of Different UAVs with Tilting Rotors (Octavio Garcia).

6.1 Introduction.

6.2 Dynamic model of a flying VTOL vehicle.

6.3 Attitude control of a flying VTOL vehicle.

6.4 Triple tilting rotor rotorcraft: Delta.

6.5 Single tilting rotor rotorcraft: T-Plane.

6.6 Concluding remarks.

6.7 Bibliography.

Chapter 7 Improving Attitude Stabilization of a Quad-Rotor Using Motor Current Feedback (Octavio Garcia).

7.1 Introduction.

7.2 Brushless DC motor and speed controller.

7.3 Quad-rotor.

7.4 Control strategy.

7.5 System configuration.

7.6 Experimental results.

7.7 Concluding remarks.

7.8 Bibliography.

Chapter 8 Robust Control Design Techniques Applied to Mini-Rotorcraft UAV: Simulation and Experimental Results (Efrain Alcorta).

8.1 Introduction.

8.2 Dynamic model.

8.3 Problem statement.

8.4 Robust control design.

8.5 Simulation and experimental results.

8.6 Conclusions.

8.7 Bibliography.

Chapter 9 Hover Stabilization of a Quad-Rotor Using a Single Camera (Sergio Salazar).

9.1 Introduction.

9.2 Visual servoing.

9.3 Camera calibration.

9.4 Pose estimation.

9.5 Dynamic model and control strategy.

9.6 Platform architecture.

9.7 Experimental results.

9.8 Discussion and conclusions.

9.9 Bibliography.

Chapter 10 Vision-Based Position Control of a Two-Rotor VTOL Mini UAV (Rogelio Lozano).

10.1 Introduction.

10.2 Position and velocity estimation.

10.3 Dynamic model.

10.4 Control strategy.

10.5 Experimental testbed and results.

10.6 Concluding remarks.

10.7 Bibliography.

Chapter 11 Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles (Kenzo Nonami).

11.1 Introduction.

11.2 Related work and the proposed 3NKF framework.

11.3 Prediction-based algorithm with adaptive patch for accurate and efficient optic flow calculation.

11.4 Optic flow interpretation for UAV 3D motion estimation and obstacles detection (SFM problem).

11.5 Aerial platform description and real-time implementation.

11.6 3D flight tests and experimental results.

11.7 Conclusion and future work.

11.8 Bibliography.

Chapter 12 Real-Time Stabilization of an Eight-Rotor UAV Using Stereo Vision and Optical Flow (Jose Gomez).

12.1 Stereo vision.

12.2 3D reconstruction.

12.3 Keypoints matching algorithm.

12.4 Optical flow-based control.

12.5 Eight-rotor UAV.

12.6 System concept.

12.7 Real-time experiments.

12.8 Bibliography.

Chapter 13 Three-Dimensional Localization (Alejandro Dzul).

13.1 Kalman filters.

13.2 Robot localization.

13.3 Simulations.

13.4 Bibliography.

Chapter 14 Updated Flight Plan for an Autonomous Aircraft in a Windy Environment (Fouzia Lakhlef).

14.1 Introduction.

14.2 Modeling.

14.3 Updated flight planning.

14.4 Updates of the reference trajectories: time optimal problem.

14.5 Analysis of the first set of solutions S1.

14.6 Conclusions.

14.7 Bibliography.

List of Authors.

Index.

What is included with this book?

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Unmanned Aerial Vehicles Embedded Control

Unmanned Aerial Vehicles Embedded Control

1118599934

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