Unmanned Aerial Vehicles

Transcription

1 Unmanned Aerial Vehicles Embedded Control Edited by Rogelio Lozano WILEY

2 Table of Contents Chapter 1. Aerodynamic Configurations and Dynamic Models 1 Pedro CASTILLO and Alejandro DZUL 1.1. Aerodynamic configurations Dynamic models Newton-Euler approach Euler-Lagrange approach Quaternion approach Example: dynamic model of a quad-rotor rotorcraft Bibliography 20 Chapter 2. Nested Saturation Control for Stabilizing the PVTOL Aircraft 21 Isabelle FANTONI and Amparo PALOMINO 2.1. Introduction Bibliographical study The PVTOL aircraft model Control strategy Control of the vertical displacement у Control of the roll angle 9 and the horizontal displacement x Boundedness of Boundedness of Boundedness of x Boundedness of ж Convergence of 9, 9, x and x to zero Other control strategies for the stabilization of the PVTOL aircraft Experimental results Conclusions Bibliography 38

3 vi Unmanned Aerial Vehicles Chapter 3. Two-Rotor VTOL Mini UAV: Design, Modeling and Control. 41 Juan ESCARENO, Sergio SALAZAR and Eduardo RONDON 3.1. Introduction Dynamic model Kinematics Dynamics Forces acting on the vehicle Torques acting on the vehicle Model for control analysis Control strategy Altitude control Horizontal motion control Attitude control Experimental setup Onboard flight system (OFS) Outboard visual system Position Optical flow Experimental results Concluding remarks Bibliography 56 Chapter 4. Autonomous Hovering of a Two-Rotor UAV 59 Anand SANCHEZ, Juan ESCARENO and Octavio GARCIA 4.1. Introduction Two-rotor UAV Description Dynamic model Translational motion Rotational motion Reduced model Control algorithm design Experimental platform Real-time PC-control system (PCCS) Sensors and communication hardware Experimental results Conclusion Bibliography 77 Chapter 5. Modeling and Control of a Convertible Plane UAV 79 Octavio GARCIA, Juan ESCARENO and Victor ROSAS 5.1. Introduction 79

4 Contents vii 5.2. Convertible plane UAV Vertical mode Transition maneuver Horizontal mode Mathematical model Translation of the vehicle Orientation of the vehicle Euler angles Aerodynamic axes Torques Equations of motion Controller design Hover control Axial system Longitudinal system Lateral system Simulation and experimental results Transition maneuver control Horizontal flight control Embedded system Experimental platform Microcontroller Inertial measurement unit (IMU) Sensor fusion Conclusions and future works Ill Conclusions Ill Future works Bibliography 112 Chapter 6. Control of Different UAVs with Tilting Rotors 115 Juan ESCARENO, Anand SANCHEZ and Octavio GARCIA 6.1. Introduction Dynamic model of a flying VTOL vehicle Kinematics Dynamics Attitude control of a flying VTOL vehicle Triple tilting rotor rotorcraft: Delta Kinetics of Delta Torques acting on the Delta Experimental setup Avionics Sensor module (SM) On-board microcontroller (OBM) 125

5 viii Unmanned Aerial Vehicles Data acquisition module (DAQ) Experimental results Single tilting rotor rotorcraft: T-Plane Forces and torques acting on the vehicle Experimental results Experimental platform Experimental test Concluding remarks Bibliography 132 Chapter 7. Improving Attitude Stabilization of a Quad-Rotor Using Motor Current Feedback 133 Anand SANCHEZ, Luis GARCIA-CARRILLO, Eduardo RONDON and Octavio GARCIA 7.1. Introduction Brushless DC motor and speed controller Quad-rotor Dynamic model Control strategy Attitude control Armature current control System configuration Aerial vehicle Ground station Vision system Experimental results Concluding remarks Bibliography 151 Chapter 8. Robust Control Design Techniques Applied to Mini-Rotorcraft UAV: Simulation and Experimental Results 153 Jose Alfredo GUERRERO, Gerardo ROMERO, Rogelio LOZANO and Efrain ALCORTA 8.1. Introduction Dynamic model Problem statement Robust control design Simulation and experimental results Simulations Experimental platform Conclusions Bibliography 164

6 Contents ix Chapter 9. Hover Stabilization of a Quad-Rotor Using a Single Camera 167 Hugo ROMERO and Sergio SALAZAR 9.1. Introduction Visual servoing Direct visual servoing Indirect visual servoing Position based visual servoing Image-based visual servoing Position-image visual servoing Camera calibration Two-plane calibration approach Homogenous transformation approach Pose estimation Perspective of n-points approach Plane-pose-based approach Dynamic model and control strategy Platform architecture Experimental results Camera calibration results Testing phase Real-time results Discussion and conclusions Bibliography 188 Chapter 10. Vision-Based Position Control of a Two-Rotor VTOL Mini UAV 191 Eduardo RONDON, Sergio SALAZAR, Juan ESCARENO and Rogelio LOZANO Introduction Position and velocity estimation Inertial sensors Visual sensors Position Optical flow (OF) Kalman-based sensor fusion Dynamic model Control strategy Frontal subsystem (S camy ) Lateral subsystem (S cam J Heading subsystem (S^) Experimental testbed and results Experimental results Concluding remarks 207

7 x Unmanned Aerial Vehicles Bibliography 207 Chapter 11. Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles 209 Farid KENDOUL, Isabelle FANTONI and Kenzo NONAMi Introduction Related work and the proposed 3NKF framework Optic flow computation Structure from motion problem Bioinspired vision-based aerial navigation Brief description of the proposed framework Prediction-based algorithm with adaptive patch for accurate and efficient optic flow calculation Search center prediction Combined block-matching and differential algorithm Nominal OF computation using a block-matching algorithm (BMA) Subpixel OF computation using a differential algorithm (DA) Optic flow interpretation for UAV 3D motion estimation and obstacles detection (SFM problem) Imaging model Fusion of OF and angular rate data EKF-based algorithm for motion and structure estimation Aerial platform description and real-time implementation Quadrotor-based aerial platform Real-time software D flight tests and experimental results Experimental methodology and safety procedures Optic flow-based velocity control Optic flow-based position control Fully autonomous indoor flight using optic flow Conclusion and future work Bibliography 234 Chapter 12. Real-Time Stabilization of an Eight-Rotor UAV Using Stereo Vision and Optical Flow 237 Hugo ROMERO, Sergio SALAZAR and Jose GOMEZ Stereo vision D reconstruction Keypoints matching algorithm Optical flow-based control Lucas-Kanade approach 247

8 Contents xi Eight-rotor UAV Dynamic model Translational subsystem model Rotational subsystem model Control strategy Attitude control Horizontal displacements and altitude control System concept Real-time experiments Bibliography 263 Chapter 13. Three-Dimensional Localization 265 Juan Gerardo CASTREJON-LOZANO and Alejandro DZUL Kaiman filters Linear Kaiman filter Extended Kaiman filter Unseen ted Kaiman filter UKF algorithm Additive UKF algorithm Square-root UKF algorithm Additive square-root UKF algorithm Spherical simplex sigma-point Kaiman filters Spherical simplex sigma-point approach Spherical simplex UKF algorithm Additive SS-UKF Algorithm Square-root SS-UKF algorithm Square-root additive SS-UKF algorithm Robot localization Types of localization Dead reckoning (navigation systems) A priori map-based localization Simultaneous localization and mapping (SLAM) Inertial navigation theoretical framework Navigation equations in the navigation frame Simulations Quad-rotor helicopter Inertial navigation simulations Conclusions Bibliography 297 Chapter 14. Updated Flight Plan for an Autonomous Aircraft in a Windy Environment 301 Yasmina BESTAOUI and Fouzia LAKHLEF Introduction. 301

9 xii Unmanned Aerial Vehicles Modeling Down-draft modeling Translational dynamics Updated flight planning Basic problem statement Hierarchical planning structure Updates of the reference trajectories: time optimal problem Analysis of the first set of solutions SI Conclusions Bibliography 323 List of Authors 327 Index 331