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Design of Control Laws and State Observers for Fixed-Wing UAVs:
Simulation and Experimental Approaches provides readers with
modeling techniques, simulations, and results from real-time
experiments using linear and nonlinear controllers and state
observers. The book starts with an overview of the history of UAVs
and the equations of motion applied to them. Following chapters
analyze linear and nonlinear controllers, state observers, and the
book concludes with a chapter discussing testbed development and
experimental results, equipping readers with the knowledge they
need to conduct their own stable UAV flights whether in simulation
or real-time.
Quad Rotorcraft Control develops original control methods for the
navigation and hovering flight of an autonomous mini-quad-rotor
robotic helicopter. These methods use an imaging system and a
combination of inertial and altitude sensors to localize and guide
the movement of the unmanned aerial vehicle relative to its
immediate environment.
The history, classification and applications of UAVs are
introduced, followed by a description of modelling techniques for
quad-rotors and the experimental platform itself. A control
strategy for the improvement of attitude stabilization in
quad-rotors is then proposed and tested in real-time experiments.
The strategy, based on the use low-cost components and with
experimentally-established robustness, avoids drift in the UAV s
angular position by the addition of an internal control loop to
each electronic speed controller ensuring that, during hovering
flight, all four motors turn at almost the same speed. The
quad-rotor s Euler angles being very close to the origin, other
sensors like GPS or image-sensing equipment can be incorporated to
perform autonomous positioning or trajectory-tracking tasks.
Two vision-based strategies, each designed to deal with a specific
kind of mission, are introduced and separately tested. The first
stabilizes the quad-rotor over a landing pad on the ground; it
extracts the 3-dimensional position using homography estimation and
derives translational velocity by optical flow calculation. The
second combines colour-extraction and line-detection algorithms to
control the quad-rotor s 3-dimensional position and achieves
forward velocity regulation during a road-following task.
In order to estimate the translational-dynamical characteristics of
the quad-rotor (relative position and translational velocity) as
they evolve within a building or other unstructured, GPS-deprived
environment, imaging, inertial and altitude sensors are combined in
a state observer. The text give the reader a current view of the
problems encountered in UAV control, specifically those relating to
quad-rotor flying machines and it will interest researchers and
graduate students working in that field. The vision-based control
strategies presented help the reader to a better understanding of
how an imaging system can be used to obtain the information
required for performance of the hovering and navigation tasks
ubiquitous in rotored UAV operation."
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