Relevant bibliographies by topics / Fully-actuated UAV

Academic literature on the topic 'Fully-actuated UAV'

Author: Grafiati
Published: 10 December 2022
Last updated: 28 January 2023

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Journal articles on the topic "Fully-actuated UAV"

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Abdul Azis, Fadilah, Noor Hazrin Hany Mohamad Hanif, Mohd Shahrieel Mohd Aras, and Norafizah Abas. "MATHEMATICAL MODELING WITH PARAMETER IDENTIFICATION FOR HEXAROTOR SYSTEM: A HAMILTONIAN APPROACH." ASEAN Engineering Journal 12, no. 2 (June 1, 2022): 143–49. http://dx.doi.org/10.11113/aej.v12.17188.

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This paper presents a mathematical modeling with parameters identification of Unmanned Aerial Vehicle (UAV) system or hexarotor system using the Hamiltonian approach. The mathematical model of the hexarotor is derived from the Hamiltonian approach which involved the storage, dissipation, and routing of energy elements from the UAV. This UAV model parameters identification method is proposed as an alternative to the commonly used wind tunnel testing, which is complex and tedious. This Hamiltonian model is made of a fully actuated subsystem with roll, pitch, and yaw angles as output, as well as an under-actuated subsystem with position coordinates as its output. Thrust constant, drag constant and speed of hexarotor are determined through the experimental setup while moment of inertia is determined by physical measurement and calculation. The outcome from this research works demonstrates an undemanding, yet effective method of modeling an UAV, and is useful for designing nonlinear controller to perform the important UAV tasks such as taking off, hovering, and landing.
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YOSHIWAKI, Naoki, Keigo WATANABE, Taro SIBANOKI, and Isaku NAGAI. "Research on a Fully Actuated UAV with Two 2-DOF Tiltable Rotors." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (2022): 1A1—J02. http://dx.doi.org/10.1299/jsmermd.2022.1a1-j02.

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Wang, Bohang, and Daobo Wang. "Robust Hybrid Control Algorithm for Tuning the Altitude and Attitude of Unmanned Aerial Vehicle." Journal of Robotics 2020 (January 25, 2020): 1–8. http://dx.doi.org/10.1155/2020/2368273.

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In this article, a new and novel robust hybrid control algorithm is designed for tuning the parameters of unmanned aerial vehicle (UAV). The quadrotor type UAV mathematical model is taken to observe the effectiveness of our designed robust hybrid control algorithm. The robust hybrid control algorithm consists of H∞ based regulation, pole-placement and tracking (RST) controller along with mixed sensitivity function is applied to control the complete model of UAV. The selected rotor craft is under-actuated, nonlinear and multivariable behavior in nature along with six degrees of freedom (DOF). Due to all these aforementioned issues its stabilization is quite difficult as compared to fully actuated systems. For the tuning of nonlinear parameters of the UAV, we designed, robust hybrid control algorithm is used. Moreover, the performance of the designed controller is compared with robust controller. The validity and effectiveness of the designed controllers are simulated in MATLAB and Simulink, in which the designed controller shows better steady state behavior, robustness and converges quickly in specific amount of time as compared to robust controller.
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Kotarski, Denis, Petar Piljek, Josip Kasać, and Dubravko Majetić. "Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors." Applied Sciences 11, no. 18 (September 21, 2021): 8786. http://dx.doi.org/10.3390/app11188786.

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Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the performance analysis of fully actuated multirotor UAV configurations is proposed. For this purpose, a configuration is described by a control allocation scheme and implemented in the software package which enables the analysis and control implementation of a real system. The parameter analysis of the passively tilted multirotor configurations is performed based on the characteristics of the electric propulsion units, and the allocation of propulsion forces is graphically shown. The results of the proposed procedure provide an insight into the capabilities of configurations and can ultimately be used to select the propulsion system components and parameters according to the requirements and constraints associated with the specific mission profile. An experimental aircraft was built, and custom firmware was created, which enable us to experimentally prove the feasibility of fully actuated and passively tilted configurations.
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Ibuki, Tatsuya, Hiroto Yoshioka, and Mitsuji Sampei. "Robust pose tracking control for a fully-actuated hexarotor UAV based on Gaussian processes." SICE Journal of Control, Measurement, and System Integration 15, no. 2 (June 16, 2022): 201–10. http://dx.doi.org/10.1080/18824889.2022.2125242.

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Tadokoro, Yuichi, Tatsuya Ibuki, and Mitsuji Sampei. "Maneuverability Analysis of a Fully-Actuated Hexrotor UAV Considering Tilt Angles and Arrangement of Rotors." IFAC-PapersOnLine 50, no. 1 (July 2017): 8981–86. http://dx.doi.org/10.1016/j.ifacol.2017.08.1325.

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Shi, Chuanbeibei, and Yushu Yu. "Design and Implementation of a Fully-Actuated Integrated Aerial Platform Based on Geometric Model Predictive Control." Micromachines 13, no. 11 (October 25, 2022): 1822. http://dx.doi.org/10.3390/mi13111822.

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Unlike individual unmanned aerial vehicles (UAVs), integrated aerial platforms (IAPs) containing multiple UAVs do not suffer from underactuation and can move omnidirectionally in six dimensions, providing a basis for constructing aerial manipulation platforms. Compared to single UAVs, multi-UAV IAPs are also advantageous in terms of payload and fault-tolerance capacity, making them promising candidates as platforms with integrated-response, observation, and strike capabilities. Herein, an IAP structure design containing three sub-UAVs connected in a star-like configuration is presented. This form of integration enables the IAP, as a whole, to simultaneously adjust its position and attitude in six dimensions. The dynamics of the overall system of the IAP are modeled. On this basis, an overall system controller is designed. To simplify control, based on stability of cascaded system, the rotational motion of the sub-UAVs is treated as a inner-loop subsystem, whereas the overall motion of the IAP is seen as a outer-loop subsystem. Because the configuration space of the sub-UAVs is non-Euclidean, a controller is designed for the outer-loop subsystem based on model predictive control on the manifold. Subsequently, the stability of the closed-loop system is demonstrated. Fieldbus technology is employed to design a real-time, scalable communication architecture for multiple sub-UAVs, followed by the development of a principle prototype of the multi-UAV IAP that consists of hardware and software systems. The effectiveness of the IAP design and control method is validated through simulation and real-world prototype-based tests. In the simulation and real-world tests, the proposed methodology can make the IAP system converge to the desired configuration at the presence of large initial configuration error. The same test scenario cannot be finished by a baseline PID controller. The advantage of the proposed control scheme in dealing with state and input constraints is shown via such tests.
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Ma, Tie-Nan, Rui-Dong Xi, Xiao Xiao, and Zhi-Xin Yang. "Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints." Machines 10, no. 7 (July 7, 2022): 551. http://dx.doi.org/10.3390/machines10070551.

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In this paper, a prescribed performance control scheme of the quadrotor unmanned aerial vehicle (UAV) under attitude and input saturation constraints is introduced. According to the underactuated feature, the quadrotor UAV system can be decomposed into an underactuated subsystem and a fully actuated subsystem. With the feedback linearization technique, a single nonlinear extended state observer (ESO) is proposed, and multiple observations are utilized to estimate both matched and unmatched disturbances, which not only can obtain a uniform convergence, but also reduces the complexity of the observer’s parameter adjustment. To improve system stability, an input saturation algorithm for each single rotor is introduced to modify the final control output. In addition, the limited attitude for the quadrotor UAV is also considered as a saturation constraint in the control scheme with a compensation auxiliary system. On this basis, dynamic surface control (DSC) with prescribed performance is adopted to guarantee the bounded convergence and steady-state error. All state errors of the closed-loop system are proven to be uniformly bounded using the Lyapunov theory, and the simulation results are given to demonstrate the stability, effectiveness, and superiority of the proposed control strategies at last.
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TADOKORO, Yuichi, Tatsuya IBUKI, and Mitsuji SAMPEI. "Dynamic Manipulability Analysis and Design Optimization of a Fully-actuated Hexrotor UAV with Symmetric-coplanar-tilted-rotor Structure." Transactions of the Society of Instrument and Control Engineers 53, no. 8 (2017): 480–89. http://dx.doi.org/10.9746/sicetr.53.480.

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Rashad, Ramy, Federico Califano, and Stefano Stramigioli. "Port-Hamiltonian Passivity-Based Control on SE(3) of a Fully Actuated UAV for Aerial Physical Interaction Near-Hovering." IEEE Robotics and Automation Letters 4, no. 4 (October 2019): 4378–85. http://dx.doi.org/10.1109/lra.2019.2932864.

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Dissertations / Theses on the topic "Fully-actuated UAV"

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Rajappa, Sujit [Verfasser], and Heinrich [Akademischer Betreuer] Bülthoff. "Towards Human-UAV Physical Interaction and Fully Actuated Aerial Vehicles / Sujit Rajappa ; Betreuer: Heinrich Bülthoff." Tübingen : Universitätsbibliothek Tübingen, 2017. http://d-nb.info/1165577348/34.

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Schuster, Micha. "Entwicklung und Modellierung einer vollaktuierten Drohne." Master's thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2018. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-236790.

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Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller erzeugbaren Lasten wird dieser auf sogenannte Stützvektoren reduziert. Als Stützvektoren dienen dabei die für den Schwebeflug nötige Schubkraft, die garantierte Mindestkraft in horizontaler Richtung und das garantierte Mindestmoment um eine beliebige Achse, zu deren Berechnung zusätzlich analytische Formeln hergeleitet werden. Aufbauend auf die Beschreibung durch Stützvektoren wird die Formuliernung von Metriken vorgestellt, die die Bewertung einer Drohnengeometrie durch eine einzige skalare Maßzahl ermöglichen, wodurch die je nach Anwendung optimale Drohnengeometrie ermittelt werden kann. Zur Regelung des Systems aus Drohne und Manipulator wurde ein Regelungskonzept entwickelt, welches durch eine Entkopplung der Bewegungsgleichungen eine virtuelle Verschiebung des Schwerpunkts in das Drohnenzentrum realisiert und so eine präzise Regelung unabhängig von der tatsächlichen Schwerpunktlage ermöglicht
This thesis’ subject is the geometrical design and control of a fully actuated drone, intended to be used as a flying operating-platform for a manipulator. Starting with the general geometrical description of a symmetric drone with six rotors, methods for the application specific design of a fully actuated drone are developed. Furthermore general influencing principles of geometric parameters on the forces and torques that can be generated by the drone, are pointed out. To characterize the drone's wrench-space, it is reduced to so called support vectors, which are given by the hovering thrust, the minimum guaranteed force in a horizontal direction and the minimum guaranteed torque in any direction. Additionally, analytic formulas are derived for the mentioned support vectors. Based on the description by the support vectors, a formulation of metrics is introduced, to enable the assessment of a specific drone geometry by a single scalar measure, to determine the ideal drone geometry for a specific application. Targeting the issue of controlling the flight system, consisting of the drone and the manipulator, a concept is developed that realizes a virtual dissplacement of the center of mass by decoupling the equations of motion and therby facilitates a precise control, independent of the actual location of the system's center of mass
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Book chapters on the topic "Fully-actuated UAV"

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Konz, Matthias, David Kastelan, and Joachim Rudolph. "Tracking Control for a Fully-Actuated UAV." In Reinventing Mechatronics, 127–44. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-29131-0_9.

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González-Morgado, Antonio, Carlos Álvarez-Cía, José Guillermo Heredia Benot, and Aníbal Ollero Baturone. "UAV fully-actuated: modelo, control y comparación con configuración coplanaria." In XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja), 700–707. 2022nd ed. Servizo de Publicacións da UDC, 2022. http://dx.doi.org/10.17979/spudc.9788497498418.0700.

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Con el desarrollo de la robótica aérea han aparecido nuevas plataformas de multirotores de actuación completa (fully-actuated en inglés), las cuales tienen la capacidad de desplazarse sin inclinar la plataforma. Este artículo presenta una comparación en cuanto a capacidades de movimiento entre un hexarotor de rotores coplanarios, configuración estándar, y un hexarotor de rotores inclinados, configuración fully-actuated. Para ello, se presenta el diseño, modelo y control de ambas configuraciones. Tras el montaje de las plataformas, se comparan con diferentes trayectorias. Así mismo, se muestran capacidades exclusivas de la plataforma fully-actuated, como la capacidad de mantenerse en hover con un ángulo de inclinación
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Conference papers on the topic "Fully-actuated UAV"

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Pranjic, Marko, Antonia Pender, Petar Piljek, and Denis Kotarski. "Fully Actuated Multirotor UAV Control Design and Implementation." In 2022 International Conference on Electrical, Computer and Energy Technologies (ICECET). IEEE, 2022. http://dx.doi.org/10.1109/icecet55527.2022.9872892.

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Nigro, Michelangelo, Francesco Pierri, and Fabrizio Caccavale. "Preliminary design, modeling and control of a fully actuated quadrotor UAV." In 2019 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2019. http://dx.doi.org/10.1109/icuas.2019.8798092.

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Odelga, Marcin, Paolo Stegagno, and Heinrich H. Bulthoff. "A fully actuated quadrotor UAV with a propeller tilting mechanism: Modeling and control." In 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2016. http://dx.doi.org/10.1109/aim.2016.7576784.

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Rajappa, Sujit, Heinrich H. Bulthoff, Marcin Odelga, and Paolo Stegagno. "A control architecture for physical human-UAV interaction with a fully actuated hexarotor." In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2017. http://dx.doi.org/10.1109/iros.2017.8206332.

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Flores, Alejandro, and Gerardo Flores. "Fully actuated Hexa-rotor UAV: Design, construction, and control. Simulation and experimental validation." In 2022 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2022. http://dx.doi.org/10.1109/icuas54217.2022.9836105.

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Kotarski, Denis, Petar Piljek, Hrvoje Brezak, and Josip Kasac. "Design of a fully actuated passively tilted multirotor UAV with decoupling control system." In 2017 8th International Conference on Mechanical and Aerospace Engineering (ICMAE). IEEE, 2017. http://dx.doi.org/10.1109/icmae.2017.8038677.

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Praveen, Abbaraju, Xin Ma, Yuanmeng Huang, Mo Rastgaar, and Richard M. Voyles. "Autonomous Physical Inspection of Exhaust Shafts and Smokestacks Using a Fully-Actuated UAV." In 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 2020. http://dx.doi.org/10.1109/ssrr50563.2020.9292635.

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Jiang, Guangying, Richard M. Voyles, and Jae Jung Choi. "Precision Fully-Actuated UAV for Visual and Physical Inspection of Structures for Nuclear Decommissioning and Search and Rescue." In 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR). IEEE, 2018. http://dx.doi.org/10.1109/ssrr.2018.8468628.

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Rashad, Ramy, Davide Bicego, Ran Jiao, Santiago Sanchez-Escalonilla, and Stefano Stramigioli. "Towards Vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV." In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020. http://dx.doi.org/10.1109/iros45743.2020.9341203.

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Ding, Caiwu, Lu Lu, and Cong Wang. "Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters." In ASME 2018 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dscc2018-9133.

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This paper proposes an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. We consider a novel vector thrust UAV with all propellers able to tilt about two perpendicular axes, so that the thrust force generated by each propeller is a fully controllable vector in 3D space, based on which an adaptive robust control is designed for accurate trajectory tracking in the presence of inertial parametric uncertainties and uncertain nonlinearities. Theoretically, the resulting controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. In addition, in the presence of only parametric uncertainties, the controller achieves asymptotic output tracking. To resolve the redundancy in actuation, a thrust force optimization problem minimizing power consumption while achieving the desired body force wrench is formulated, and is shown to be convex with linear equality constraints. Simulation results are also presented to verify the proposed solution.
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