Modelling and Control Design of Rover Vehicle Using Classic and Adaptive Control
This paper presents the dynamics and control of a small-scale rover using custom-built frame, off-the-shelf avionics, motors and batteries. The modeling part incorporates the rotors dynamics and its motion. The modeling process includes analytical equations and experimental identification of different parameters which is difficult to be estimated analytically. The control part incorporates PD controller. A simulator of the complete system was built using Matlab and Simulink. The control code was written in C and was implemented in a PIC microcontroller. A prototype was built and tested with the selected controller to show good stabilization and good matching with the simulator.
Copyright © 2014 Praise Worthy Prize - All rights reserved.
Robert C. Nelson, Flight stability and automatic control, second ed. (McGrew, 1989).
Alpen, M., Frick, K., and Horn, J., Nonlinear modeling and position control of an industrial quad rotor with on-board attitude control," IEEE International Conference on Control and Automation, dec. 2009, pp. 2329 -2334.
Kim, J., Kang, M., and Park, S., " Accurate Modeling and Robust Hovering Control for a Quad rotor VTOL Aircraft", Journal of Intelligent and Robotic Systems, Vol. 57, No. 1, 2010, pp. 9-26.
Gurdan, D., Stumpf, J., Achtelik, M., Doth, K. M., Hirzinger, G., and Rus, D., " Energy-e_cient Autonomous Four-rotor Flying Robot Controlled at 1 kHz," IEEE International Conference on Robotics and Automation (ICRA), 2007, pp. 361-366.
Huang, H., Hofmann, G., Waslander, S., and Tomlin, C., "Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering," IEEE International Conference on Robotics and Automation (ICRA), May 2009, pp. 3277 -3282.
Castillo P., Dzul A. and Lozano R., "Real-time stabilization and tracking of a four rotor mini rotorcraft", IEEE Transactions on ontrol Systems Technology, Vol. 12, No. 4, pp. 510–516, July 2004.
Brockett R. W.,"Asymptotic stability and feedback stabilization", in Differential Geometric Control Theory, eds: R.W. Brockett, R. S. Millman, H.J. Sussmann, Birkhauser, Boston, 1983, pp. 181–191
Cook M. V., Lipscombe J. M. and Goineau F., "Analysis of the stability modes of the non rigid airship", Aeronautical Journal, 2000, pp. 279–289.
Furutani E. and Araki M., "Robust stability of state-predictive and Smith control systems for plants with a pure delay", international Journal of Robust and Nonlinear Control, Vol. 8, No. 18, pp. 907–919, 1998.
Azouz N., Bestaoui Y. and Lematre O., "Dynamic analysis of airships with small deformations", 3rd IEEE Workshop on Robot Motion and Control,Bukowy-Dworek, Nov. 2002, pp. 209–215.
Bouabdallah,Samir. Design and control quad rotors with application to autonomous flying 2007
Mellinger, D. and Kumar, V., "Minimum Snap Trajectory Generation and Control for Quadrotors," IEEE International Conference on Robotics and Automation (ICRA), 2011.
Hyondong Oh, Dae-Yeon Won, Sung-Sik Huh, David Hyunchul Shim and Min-Jea Tahk, Experimental Framework for Controller Design of a Rotorcraft Unmanned Aerial Vehicle Using Multi-Camera System, Int'l J. of Aeronautical & Space Sci. 11(2), 69–79 (2010).
- There are currently no refbacks.
Please send any question about this web site to firstname.lastname@example.org
Copyright © 2005-2020 Praise Worthy Prize