subject:(Quadrotor)

Penn State University

1. Liu, Yande. DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE.

Degree: 2017, Penn State University

URL: https://etda.libraries.psu.edu/catalog/13071yxl5197

► The motivation of this thesis research is to develop an experimental platform forresearch on quadrotor gust response and wind gust estimation. The work requiresthe development… (more)

Subjects/Keywords: quadrotor; control

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APA (6^th Edition):

Liu, Y. (2017). DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE. (Thesis). Penn State University. Retrieved from https://etda.libraries.psu.edu/catalog/13071yxl5197

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Liu, Yande. “DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE.” 2017. Thesis, Penn State University. Accessed November 18, 2019. https://etda.libraries.psu.edu/catalog/13071yxl5197.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Liu, Yande. “DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE.” 2017. Web. 18 Nov 2019.

Vancouver:

Liu Y. DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE. [Internet] [Thesis]. Penn State University; 2017. [cited 2019 Nov 18]. Available from: https://etda.libraries.psu.edu/catalog/13071yxl5197.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Liu Y. DEVELOPMENT OF A CONTROLLER AND INDOOR FLIGHT TEST EXPERIMENT FOR RESEARCH ON QUADROTOR GUST RESPONSE. [Thesis]. Penn State University; 2017. Available from: https://etda.libraries.psu.edu/catalog/13071yxl5197

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of North Texas

2. Coelho, Gavin. Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition.

Degree: 2012, University of North Texas

URL: https://digital.library.unt.edu/ark:/67531/metadc115056/

► The field of robotics and mechatronics is advancing at an ever-increasing rate and we are starting to see robots making the transition from the factories… (more)

Subjects/Keywords: Quadrotor; autonomous; UAV

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Coelho, G. (2012). Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition. (Thesis). University of North Texas. Retrieved from https://digital.library.unt.edu/ark:/67531/metadc115056/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Coelho, Gavin. “Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition.” 2012. Thesis, University of North Texas. Accessed November 18, 2019. https://digital.library.unt.edu/ark:/67531/metadc115056/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Coelho, Gavin. “Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition.” 2012. Web. 18 Nov 2019.

Vancouver:

Coelho G. Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition. [Internet] [Thesis]. University of North Texas; 2012. [cited 2019 Nov 18]. Available from: https://digital.library.unt.edu/ark:/67531/metadc115056/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Coelho G. Ota-quadrotor: An Object-tracking Autonomous Quadrotor for Real-time Detection and Recognition. [Thesis]. University of North Texas; 2012. Available from: https://digital.library.unt.edu/ark:/67531/metadc115056/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Al Younes, Younes. Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor.

Degree: Docteur es, Sciences pour l'ingénieur. Automatique, 2016, Amiens

URL: http://www.theses.fr/2016AMIE0028

► Les principaux travaux développés dans cette thèse traitent de la commande, du diagnostic et de la tolérance aux fautes utilisant le concept de la commande… (more)

▼ Les principaux travaux développés dans cette thèse traitent de la commande, du diagnostic et de la tolérance aux fautes utilisant le concept de la commande sans modèle récemment proposé dans la littérature. Les méthodes développées sont testées en temps réel et validées sur un quadrotor. Dans un premier temps, le modèle du quadrotor est présenté et analysé dans l'objectif de concevoir et implanter une loi de commande robuste aux perturbations et aux incertitudes de modèle. Pour cela, le concept de commande sans modèle est utilisé. Ce concept est basé sur la détermination d'une loi de commande calculée à partir de modèles ultra-locaux ajoutée à la commande calculée par des régulateurs classiques. Une technique utilisant le régulateur linéaire quadratique ainsi que la technique non linéaire de backstepping avec intégrateur augmentées de ce concept de commande sans modèle ont été proposées. Ces deux approches ont été testées et validées en les appliquant en temps-réel au drone considéré. Une étude comparative des lois de commandes avec et sans l'utilisation du concept de commande sans modèle a été proposée mettant en évidence les avantages de l'utilisation de ce concept. Le diagnostic de défauts est une étape importante pour la commande tolérante aux fautes. Les techniques de diagnostic développées dans cette thèse sont basées sur la génération de résidus issus de la comparaison entre les mesures réelles et les estimations de ces mesures obtenues par des estimateurs. La génération de résidus dépend de la qualité du modèle utilisé ainsi que des perturbations qui peuvent conduire à des fausses alarmes ou des non détections. Une nouvelle technique "d’estimation intelligente" inspirée du concept de commande sans modèle a été proposée et implantée afin de rendre la génération de résidus insensible aux incertitudes de modèle et aux perturbations et ainsi améliorer la décision quant à la présence de défauts. Deux "estimateurs intelligents" ont été proposés en rajoutant à l'observateur d'état classique et l'observateur de Thau un concept inspiré de la technique de commande sans modèle. L'estimation des sorties du système obtenue par l'estimateur intelligent est utilisée afin d'estimer l'amplitude des défauts d'actionneurs et de capteurs. L'estimation des défauts d'actionneurs est basée sur des modèles ultra-locaux. Quant aux défauts de capteurs, un algorithme structure a été proposé pour estimer leur amplitude en utilisant les résidus générés à partir de cet estimateur. Les résultats de détection et estimation de défauts ainsi obtenus sont ensuite utilisés pour compenser l'effet des défauts sur les performances du drone. La commande tolérante aux fautes mise en œuvre permet de modifier la loi de commande par rapport à l'estimation de l'amplitude du défaut d'actionneur, alors que lorsqu'un défaut de capteur est détecté et estimé, la trajectoire de référence est régénérée afin de compenser l'effet du défaut et maintenir le drone sur la trajectoire initialement définie. Les algorithmes proposés ont été implantés et testés sur un… Advisors/Committee Members: El Hajjaji, Ahmed (thesis director), Rabhi, Abdelhamid (thesis director), Noura, Hassan (thesis director).

Subjects/Keywords: Automatique; FTC; UAV; Quadrotor

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APA (6^th Edition):

Al Younes, Y. (2016). Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor. (Doctoral Dissertation). Amiens. Retrieved from http://www.theses.fr/2016AMIE0028

Chicago Manual of Style (16^th Edition):

Al Younes, Younes. “Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor.” 2016. Doctoral Dissertation, Amiens. Accessed November 18, 2019. http://www.theses.fr/2016AMIE0028.

MLA Handbook (7^th Edition):

Al Younes, Younes. “Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor.” 2016. Web. 18 Nov 2019.

Vancouver:

Al Younes Y. Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor. [Internet] [Doctoral dissertation]. Amiens; 2016. [cited 2019 Nov 18]. Available from: http://www.theses.fr/2016AMIE0028.

Council of Science Editors:

Al Younes Y. Model-free approach for control, fault diagnosis, and fault-tolerant control : with application to a quadrotor UAV : Approche sans modèle pour la commande, le diagnostic et la tolérance aux fautes : application à un quadrotor. [Doctoral Dissertation]. Amiens; 2016. Available from: http://www.theses.fr/2016AMIE0028

Hong Kong University of Science and Technology

4. Shi, Weiyi. Trajectory generation and control of a quadrotor.

Degree: 2016, Hong Kong University of Science and Technology

URL: https://doi.org/10.14711/thesis-b1610791 ; http://repository.ust.hk/ir/bitstream/1783.1-86631/1/th_redirect.html

► In recent years, small-size commercial drones have become one of the catchiest stars on the stage of science and technology. They consist of multiple rotors… (more)

Subjects/Keywords: Quadrotor helicopters; Control; Trajectories (Mechanics)

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APA (6^th Edition):

Shi, W. (2016). Trajectory generation and control of a quadrotor. (Thesis). Hong Kong University of Science and Technology. Retrieved from https://doi.org/10.14711/thesis-b1610791 ; http://repository.ust.hk/ir/bitstream/1783.1-86631/1/th_redirect.html

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Shi, Weiyi. “Trajectory generation and control of a quadrotor.” 2016. Thesis, Hong Kong University of Science and Technology. Accessed November 18, 2019. https://doi.org/10.14711/thesis-b1610791 ; http://repository.ust.hk/ir/bitstream/1783.1-86631/1/th_redirect.html.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Shi, Weiyi. “Trajectory generation and control of a quadrotor.” 2016. Web. 18 Nov 2019.

Vancouver:

Shi W. Trajectory generation and control of a quadrotor. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2016. [cited 2019 Nov 18]. Available from: https://doi.org/10.14711/thesis-b1610791 ; http://repository.ust.hk/ir/bitstream/1783.1-86631/1/th_redirect.html.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Shi W. Trajectory generation and control of a quadrotor. [Thesis]. Hong Kong University of Science and Technology; 2016. Available from: https://doi.org/10.14711/thesis-b1610791 ; http://repository.ust.hk/ir/bitstream/1783.1-86631/1/th_redirect.html

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Ohio University

5. Stepaniak, Michael J. A Quadrotor Sensor Platform.

Degree: PhD, Electrical Engineering (Engineering and Technology), 2008, Ohio University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025

► A quadrotor sensor platform capable of lifting a ten pound payload is presented. Platform stabilization is accomplished using classical control methodology and isimplemented on… (more)

Subjects/Keywords: Electrical Engineering; quadrotor; four rotor

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APA (6^th Edition):

Stepaniak, M. J. (2008). A Quadrotor Sensor Platform. (Doctoral Dissertation). Ohio University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025

Chicago Manual of Style (16^th Edition):

Stepaniak, Michael J. “A Quadrotor Sensor Platform.” 2008. Doctoral Dissertation, Ohio University. Accessed November 18, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025.

MLA Handbook (7^th Edition):

Stepaniak, Michael J. “A Quadrotor Sensor Platform.” 2008. Web. 18 Nov 2019.

Vancouver:

Stepaniak MJ. A Quadrotor Sensor Platform. [Internet] [Doctoral dissertation]. Ohio University; 2008. [cited 2019 Nov 18]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025.

Council of Science Editors:

Stepaniak MJ. A Quadrotor Sensor Platform. [Doctoral Dissertation]. Ohio University; 2008. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1228335025

University of Toronto

6. McKinnon, Christopher David. Data Driven, Force Based Interaction for Quadrotors.

Degree: 2015, University of Toronto

URL: http://hdl.handle.net/1807/70478

►

Quadrotors are small and agile, and are becoming more capable for their compact size. They are expected perform a wide variety of tasks including inspection,… (more)

Subjects/Keywords: Force Estimation; Learning; Quadrotor; 0538

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

McKinnon, C. D. (2015). Data Driven, Force Based Interaction for Quadrotors. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/70478

Chicago Manual of Style (16^th Edition):

McKinnon, Christopher David. “Data Driven, Force Based Interaction for Quadrotors.” 2015. Masters Thesis, University of Toronto. Accessed November 18, 2019. http://hdl.handle.net/1807/70478.

MLA Handbook (7^th Edition):

McKinnon, Christopher David. “Data Driven, Force Based Interaction for Quadrotors.” 2015. Web. 18 Nov 2019.

Vancouver:

McKinnon CD. Data Driven, Force Based Interaction for Quadrotors. [Internet] [Masters thesis]. University of Toronto; 2015. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/1807/70478.

Council of Science Editors:

McKinnon CD. Data Driven, Force Based Interaction for Quadrotors. [Masters Thesis]. University of Toronto; 2015. Available from: http://hdl.handle.net/1807/70478

University of Toronto

7. Bohdanov, Denys. Quadrotor UAV Control for Vision-based Moving Target Tracking Task.

Degree: 2012, University of Toronto

URL: http://hdl.handle.net/1807/33344

►

The problem of stand-off tracking of a moving target using a quadrotor unmanned aerial vehicle (UAV) based on vision-sensing is investigated. A PID (Proportional-Integral-Derivative) controller… (more)

Subjects/Keywords: Quadrotor control; UAV; 0538

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Bohdanov, D. (2012). Quadrotor UAV Control for Vision-based Moving Target Tracking Task. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/33344

Chicago Manual of Style (16^th Edition):

Bohdanov, Denys. “Quadrotor UAV Control for Vision-based Moving Target Tracking Task.” 2012. Masters Thesis, University of Toronto. Accessed November 18, 2019. http://hdl.handle.net/1807/33344.

MLA Handbook (7^th Edition):

Bohdanov, Denys. “Quadrotor UAV Control for Vision-based Moving Target Tracking Task.” 2012. Web. 18 Nov 2019.

Vancouver:

Bohdanov D. Quadrotor UAV Control for Vision-based Moving Target Tracking Task. [Internet] [Masters thesis]. University of Toronto; 2012. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/1807/33344.

Council of Science Editors:

Bohdanov D. Quadrotor UAV Control for Vision-based Moving Target Tracking Task. [Masters Thesis]. University of Toronto; 2012. Available from: http://hdl.handle.net/1807/33344

Brno University of Technology

8. Gábrlík, Petr. Quadrocopter - stabilizace a regulace .

Degree: 2010, Brno University of Technology

URL: http://hdl.handle.net/11012/15652

► Cílem práce je navrhnout a realizovat řízení a programovou obsluhu létajícího robotu koncepce quadrotoru. Práce je rozdělena do tří hlavních celků. První část se zabývá… (more)

Subjects/Keywords: Quadrotor; UAV; Gyroskop; Akcelerometr; Stabilizace; Quadrotor; UAV; Gyroscope; Accelerometer; Stabilization

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APA (6^th Edition):

Gábrlík, P. (2010). Quadrocopter - stabilizace a regulace . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/15652

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gábrlík, Petr. “Quadrocopter - stabilizace a regulace .” 2010. Thesis, Brno University of Technology. Accessed November 18, 2019. http://hdl.handle.net/11012/15652.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gábrlík, Petr. “Quadrocopter - stabilizace a regulace .” 2010. Web. 18 Nov 2019.

Vancouver:

Gábrlík P. Quadrocopter - stabilizace a regulace . [Internet] [Thesis]. Brno University of Technology; 2010. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/11012/15652.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gábrlík P. Quadrocopter - stabilizace a regulace . [Thesis]. Brno University of Technology; 2010. Available from: http://hdl.handle.net/11012/15652

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brigham Young University

9. Chamberlain, Caleb H. System Identification, State Estimation, and Control of Unmanned Aerial Robots.

Degree: MS, 2011, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=3604&context=etd

► This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path… (more)

Subjects/Keywords: quadrotor control; path planning; aerial surveillance; system identification; quadrotor attitude estimation; quadrotor; Electrical and Computer Engineering

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APA (6^th Edition):

Chamberlain, C. H. (2011). System Identification, State Estimation, and Control of Unmanned Aerial Robots. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=3604&context=etd

Chicago Manual of Style (16^th Edition):

Chamberlain, Caleb H. “System Identification, State Estimation, and Control of Unmanned Aerial Robots.” 2011. Masters Thesis, Brigham Young University. Accessed November 18, 2019. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=3604&context=etd.

MLA Handbook (7^th Edition):

Chamberlain, Caleb H. “System Identification, State Estimation, and Control of Unmanned Aerial Robots.” 2011. Web. 18 Nov 2019.

Vancouver:

Chamberlain CH. System Identification, State Estimation, and Control of Unmanned Aerial Robots. [Internet] [Masters thesis]. Brigham Young University; 2011. [cited 2019 Nov 18]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=3604&context=etd.

Council of Science Editors:

Chamberlain CH. System Identification, State Estimation, and Control of Unmanned Aerial Robots. [Masters Thesis]. Brigham Young University; 2011. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=3604&context=etd

University of Victoria

10. Zhang, Kunwu. Flight control of a quadrotor: theory and experiments.

Degree: Department of Mechanical Engineering, 2016, University of Victoria

URL: http://hdl.handle.net/1828/7426

► In the last decades, the quadrotor has been used in many areas, and deigning an effective flight control algorithm for the quadrotor has attracted great… (more)

Subjects/Keywords: Quadrotor; Flight control; EKF; LQR; MPC

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Zhang, K. (2016). Flight control of a quadrotor: theory and experiments. (Masters Thesis). University of Victoria. Retrieved from http://hdl.handle.net/1828/7426

Chicago Manual of Style (16^th Edition):

Zhang, Kunwu. “Flight control of a quadrotor: theory and experiments.” 2016. Masters Thesis, University of Victoria. Accessed November 18, 2019. http://hdl.handle.net/1828/7426.

MLA Handbook (7^th Edition):

Zhang, Kunwu. “Flight control of a quadrotor: theory and experiments.” 2016. Web. 18 Nov 2019.

Vancouver:

Zhang K. Flight control of a quadrotor: theory and experiments. [Internet] [Masters thesis]. University of Victoria; 2016. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/1828/7426.

Council of Science Editors:

Zhang K. Flight control of a quadrotor: theory and experiments. [Masters Thesis]. University of Victoria; 2016. Available from: http://hdl.handle.net/1828/7426

Luleå University of Technology

11. Jiřinec, Tomáš. Stabilization and Control of Unmanned Quadcopter.

Degree: 2011, Luleå University of Technology

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-46877

►

Recent development in the fields of MEMS sensors, miniature, energy efficient and very powerful microcontrollers and microprocessors has given the opportunity to build small… (more)

Subjects/Keywords: Technology; quadrotor; control; stabilization; quadcopter; Teknik

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APA (6^th Edition):

Jiřinec, T. (2011). Stabilization and Control of Unmanned Quadcopter. (Thesis). Luleå University of Technology. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-46877

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Jiřinec, Tomáš. “Stabilization and Control of Unmanned Quadcopter.” 2011. Thesis, Luleå University of Technology. Accessed November 18, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-46877.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Jiřinec, Tomáš. “Stabilization and Control of Unmanned Quadcopter.” 2011. Web. 18 Nov 2019.

Vancouver:

Jiřinec T. Stabilization and Control of Unmanned Quadcopter. [Internet] [Thesis]. Luleå University of Technology; 2011. [cited 2019 Nov 18]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-46877.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jiřinec T. Stabilization and Control of Unmanned Quadcopter. [Thesis]. Luleå University of Technology; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-46877

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

12. Jain, R.P.K. Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:.

Degree: 2015, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:4c6b4a94-4f15-4e67-8c30-eb8156aab406

► Unmanned Aerial Vehicles (UAV) have received an increasing amount of attention recently with many applications being actively investigated across the globe, and several related open… (more)

▼ Unmanned Aerial Vehicles (UAV) have received an increasing amount of attention recently with many applications being actively investigated across the globe, and several related open research questions being actively pursued. Possible applications include search and rescue, disaster relief, environmental monitoring and surveillance, transportation, and construction. Transportation of cable suspended payloads using Unmanned Aerial Vehicles is one such application which is the topic of this research. Autonomous transportation of objects using UAV can contribute to the safe and reliable supply of food and medicine in remote or disaster-affected areas and even in commercial delivery of goods. The state-of-the-art approaches towards the slung load transportation either develop non-linear feedback control laws to stabilize the system to a predefined trajectory or employ open loop off-line trajectory planning schemes to generate optimal control inputs to the system. Most of these techniques often rely on availability of an accurate model of the system backed up with simulation results. Very few results exist which target experimental validation of the proposed method. Based on the findings of the previously conducted literature survey, it appears that the application of closed loop on-line trajectory generation and control schemes to transport a slung payload in swing free manner remains unanswered. The work in this thesis sets off to answer the research questions in this direction and address the issues that come along with experimental validation. Model Predictive Control (MPC) is a promising framework, which provides the means to tackle both the trajectory generation problem and the feedback control problem in an unified manner. As a result, it forms the most important component of this thesis. Specific research problem that is addressed in this thesis is to transport a cable suspended load using quadrotor from one point to another, while minimizing the swing through the use of Linear Time Invariant MPC techniques. A non-linear dynamic model for the quadrotor-slung load system is obtained and the structure within the system dynamics is exploited to decide the control strategy. Two different MPC formulations viz. MPC with integral action and MPC with delta-u formulation are simulated and compared to Linear Quadratic control with integral action which acts as a benchmark controller. Backed with simulation results, it is shown through experimental validation that it is possible to control the swing of cable suspended load using linear control techniques. MPC being an computationally expensive task, state-of-the-art fast optimization solvers such as FORCES PRO is used to achieve on-line implementation of MPC for the quadrotor-slung load system. To this end, a new software framework for implementation of MPC is developed which establishes a wireless link with the quadrotor resulting in a real-time networked control loop. Advisors/Committee Members: Keviczky, T..

Subjects/Keywords: quadrotor; model predictive control; paparazzi; MAV; robotics

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APA (6^th Edition):

Jain, R. P. K. (2015). Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4c6b4a94-4f15-4e67-8c30-eb8156aab406

Chicago Manual of Style (16^th Edition):

Jain, R P K. “Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:.” 2015. Masters Thesis, Delft University of Technology. Accessed November 18, 2019. http://resolver.tudelft.nl/uuid:4c6b4a94-4f15-4e67-8c30-eb8156aab406.

MLA Handbook (7^th Edition):

Jain, R P K. “Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:.” 2015. Web. 18 Nov 2019.

Vancouver:

Jain RPK. Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2019 Nov 18]. Available from: http://resolver.tudelft.nl/uuid:4c6b4a94-4f15-4e67-8c30-eb8156aab406.

Council of Science Editors:

Jain RPK. Transportation of Cable Suspended Load using Unmanned Aerial Vehicles: A Real-time Model Predictive Control approach:. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:4c6b4a94-4f15-4e67-8c30-eb8156aab406

University of Waterloo

13. Ma, Yan. Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams.

Degree: 2012, University of Waterloo

URL: http://hdl.handle.net/10012/6993

► Micro Umanned Aerial Vehicle~(UAV) and Umanned Ground Vehicle~(UGV) teams present tremendous opportunities in expanding the range of operations for these vehicles. An effective coordination of… (more)

Subjects/Keywords: Landing; Rendezvous; Quadrotor; UGV; Kinect; SLAM

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APA (6^th Edition):

Ma, Y. (2012). Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/6993

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ma, Yan. “Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams.” 2012. Thesis, University of Waterloo. Accessed November 18, 2019. http://hdl.handle.net/10012/6993.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ma, Yan. “Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams.” 2012. Web. 18 Nov 2019.

Vancouver:

Ma Y. Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams. [Internet] [Thesis]. University of Waterloo; 2012. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/10012/6993.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ma Y. Coordinated Landing and Mapping with Aerial and Ground Vehicle Teams. [Thesis]. University of Waterloo; 2012. Available from: http://hdl.handle.net/10012/6993

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Toronto

14. Zhu, Hao Cheng. Indoor Simulation of Wildfire Detection and Monitoring using UAV.

Degree: 2014, University of Toronto

URL: http://hdl.handle.net/1807/68080

►

Wildfires have been a major source of environmental and economical damage for Canada. Wildfire detection and monitoring using UAVs have garnered great interest. This thesis… (more)

Subjects/Keywords: Navigation; Quadrotor; Tracking; UAV; Wildfire; 0538

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APA (6^th Edition):

Zhu, H. C. (2014). Indoor Simulation of Wildfire Detection and Monitoring using UAV. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/68080

Chicago Manual of Style (16^th Edition):

Zhu, Hao Cheng. “Indoor Simulation of Wildfire Detection and Monitoring using UAV.” 2014. Masters Thesis, University of Toronto. Accessed November 18, 2019. http://hdl.handle.net/1807/68080.

MLA Handbook (7^th Edition):

Zhu, Hao Cheng. “Indoor Simulation of Wildfire Detection and Monitoring using UAV.” 2014. Web. 18 Nov 2019.

Vancouver:

Zhu HC. Indoor Simulation of Wildfire Detection and Monitoring using UAV. [Internet] [Masters thesis]. University of Toronto; 2014. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/1807/68080.

Council of Science Editors:

Zhu HC. Indoor Simulation of Wildfire Detection and Monitoring using UAV. [Masters Thesis]. University of Toronto; 2014. Available from: http://hdl.handle.net/1807/68080

University of Illinois – Urbana-Champaign

15. Seo, Mingyo. Application of a model-based nonlinear attitude control for quadrotor UAVs.

Degree: MS, Mechanical Engineering, 2016, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/92722

► A quadrotor, a UAV equipped with four rotors, has an advantage of its maneuver, and has been used for various purposes. For this advantage, many… (more)

Subjects/Keywords: quadrotor; nonlinear; control; vision; dynamics; aerodynamics

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APA (6^th Edition):

Seo, M. (2016). Application of a model-based nonlinear attitude control for quadrotor UAVs. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/92722

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Seo, Mingyo. “Application of a model-based nonlinear attitude control for quadrotor UAVs.” 2016. Thesis, University of Illinois – Urbana-Champaign. Accessed November 18, 2019. http://hdl.handle.net/2142/92722.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Seo, Mingyo. “Application of a model-based nonlinear attitude control for quadrotor UAVs.” 2016. Web. 18 Nov 2019.

Vancouver:

Seo M. Application of a model-based nonlinear attitude control for quadrotor UAVs. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2016. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/2142/92722.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Seo M. Application of a model-based nonlinear attitude control for quadrotor UAVs. [Thesis]. University of Illinois – Urbana-Champaign; 2016. Available from: http://hdl.handle.net/2142/92722

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

16. Ahn, Young Min. Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments.

Degree: MS, 0133, 2011, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/24391

► In this thesis, the problems of control, autonomous navigation, and localization in an indoor environment are considered for mini-UAV quadrotor. A commonly used localization methods… (more)

Subjects/Keywords: Autonomous navigation; Localization; Landmarks; Indoor; Quadrotor

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APA (6^th Edition):

Ahn, Y. M. (2011). Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments. (Thesis). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/24391

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ahn, Young Min. “Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments.” 2011. Thesis, University of Illinois – Urbana-Champaign. Accessed November 18, 2019. http://hdl.handle.net/2142/24391.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ahn, Young Min. “Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments.” 2011. Web. 18 Nov 2019.

Vancouver:

Ahn YM. Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments. [Internet] [Thesis]. University of Illinois – Urbana-Champaign; 2011. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/2142/24391.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ahn YM. Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments. [Thesis]. University of Illinois – Urbana-Champaign; 2011. Available from: http://hdl.handle.net/2142/24391

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Pennsylvania

17. Mellinger, Daniel Warren. Trajectory Generation and Control for Quadrotors.

Degree: 2012, University of Pennsylvania

URL: https://repository.upenn.edu/edissertations/547

► This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors.… (more)

Subjects/Keywords: control; quadrotor; trajectory generation; Mechanical Engineering; Robotics

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APA (6^th Edition):

Mellinger, D. W. (2012). Trajectory Generation and Control for Quadrotors. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/547

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mellinger, Daniel Warren. “Trajectory Generation and Control for Quadrotors.” 2012. Thesis, University of Pennsylvania. Accessed November 18, 2019. https://repository.upenn.edu/edissertations/547.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mellinger, Daniel Warren. “Trajectory Generation and Control for Quadrotors.” 2012. Web. 18 Nov 2019.

Vancouver:

Mellinger DW. Trajectory Generation and Control for Quadrotors. [Internet] [Thesis]. University of Pennsylvania; 2012. [cited 2019 Nov 18]. Available from: https://repository.upenn.edu/edissertations/547.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mellinger DW. Trajectory Generation and Control for Quadrotors. [Thesis]. University of Pennsylvania; 2012. Available from: https://repository.upenn.edu/edissertations/547

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Cape Town

18. Von Klemperer, Nicholas. Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft.

Degree: MSc, Electrical Engineering, 2018, University of Cape Town

URL: http://hdl.handle.net/11427/30156

► This dissertation aims to apply non-zero attitude and position setpoint tracking to a quadrotor aircraft, achieved by solving the problem of a quadrotor’s inherent underactuation.… (more)

▼ This dissertation aims to apply non-zero attitude and position setpoint tracking to a quadrotor aircraft, achieved by solving the problem of a quadrotor’s inherent underactuation. The introduction of extra actuation aims to mechanically accommodate for stable tracking of non-zero state trajectories. The requirement of the project is to design, model, simulate and control a novel quadrotor platform which can articulate all six degrees of rotational and translational freedom (6-DOF) by redirecting and vectoring each propeller’s individually produced thrust. Considering the extended articulation, the proposal is to add an additional two axes (degrees) of actuation to each propeller on a traditional quadrotor frame. Each lift propeller can be independently pitched or rolled relative to the body frame. Such an adaptation, to what is an otherwise well understood aircraft, produces an over-actuated control problem. Being first and foremost a control engineering project, the focus of this work is plant model identification and control solution of the proposed aircraft design. A higher-level setpoint tracking control loop designs a generalized plant input (net forces and torques) to act on the vehicle. An allocation rule then distributes that virtual input in solving for explicit actuator servo positions and rotational propeller speeds. The dissertation is structured as follows: First a schedule of relevant existing works is reviewed in Ch:1 following an introduction to the project. Thereafter the prototype’s design is detailed in Ch:2, however only the final outcome of the design stage is presented. Following that, kinematics associated with generalized rigid body motion are derived in Ch:3 and subsequently expanded to incorporate any aerodynamic and multibody nonlinearities which may arise as a result of the aircraft’s configuration (changes). Higher-level state tracking control design is applied in Ch:4 whilst lower-level control allocation rules are then proposed in Ch:5. Next, a comprehensive simulation is constructed in Ch:6, based on the plant dynamics derived in order to test and compare the proposed controller techniques. Finally a conclusion on the design(s) proposed and results achieved is presented in Ch:7. Throughout the research, physical tests and simulations are used to corroborate proposed models or theorems. It was decided to omit flight tests of the platform due to time constraints, those aspects of the project remain open to further investigation. The subsequent embedded systems design stemming from the proposed control plant is outlined in the latter of Ch:2, Sec:2.4. Such implementations are not investigated here but design proposals are suggested. The primary outcome of the investigation is ascertaining the practicality and feasibility of such a design, most importantly whether or not the complexity of the mechanical design is an acceptable compromise for the additional degrees of control actuation introduced. Control derivations and the prototype design presented here are by no means optimal nor the… Advisors/Committee Members: Boje, Edward (advisor).

Subjects/Keywords: Nonlinear Control; Control Allocation; Quadrotor; UAV

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Von Klemperer, N. (2018). Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft. (Masters Thesis). University of Cape Town. Retrieved from http://hdl.handle.net/11427/30156

Chicago Manual of Style (16^th Edition):

Von Klemperer, Nicholas. “Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft.” 2018. Masters Thesis, University of Cape Town. Accessed November 18, 2019. http://hdl.handle.net/11427/30156.

MLA Handbook (7^th Edition):

Von Klemperer, Nicholas. “Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft.” 2018. Web. 18 Nov 2019.

Vancouver:

Von Klemperer N. Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft. [Internet] [Masters thesis]. University of Cape Town; 2018. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/11427/30156.

Council of Science Editors:

Von Klemperer N. Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft. [Masters Thesis]. University of Cape Town; 2018. Available from: http://hdl.handle.net/11427/30156

University of Toronto

19. King, Jason Robert. Quadrotor Visual Servoing for Automatic Landing.

Degree: 2017, University of Toronto

URL: http://hdl.handle.net/1807/79063

►

This thesis investigates the application of camera-based tracking and landing for multirotor UAVs on a moving target. Both Position-Based and Image-Based Visual Servoing are utilized… (more)

Subjects/Keywords: IBVS; PBVS; Quadrotor; Visual Servoing; 0538

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APA (6^th Edition):

King, J. R. (2017). Quadrotor Visual Servoing for Automatic Landing. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/79063

Chicago Manual of Style (16^th Edition):

King, Jason Robert. “Quadrotor Visual Servoing for Automatic Landing.” 2017. Masters Thesis, University of Toronto. Accessed November 18, 2019. http://hdl.handle.net/1807/79063.

MLA Handbook (7^th Edition):

King, Jason Robert. “Quadrotor Visual Servoing for Automatic Landing.” 2017. Web. 18 Nov 2019.

Vancouver:

King JR. Quadrotor Visual Servoing for Automatic Landing. [Internet] [Masters thesis]. University of Toronto; 2017. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/1807/79063.

Council of Science Editors:

King JR. Quadrotor Visual Servoing for Automatic Landing. [Masters Thesis]. University of Toronto; 2017. Available from: http://hdl.handle.net/1807/79063

Brno University of Technology

20. Tesáček, Zdeněk. Řízení létajících robotů .

Degree: 2010, Brno University of Technology

URL: http://hdl.handle.net/11012/15654

► Tato diplomová práce se věnuje problematice řízení stabilizace čtyřmotorového létajícího prostředku – quadrotoru. Na platformě NANOKOPTER jsou ukázány základní pohybové vlastnosti tohoto specifického létajícího prostředku… (more)

Subjects/Keywords: Quadrotor; NANOKOPTER; kopter; MATLAB; Simulink; stavový regulátor; Quadrotor; NANOKOPTER; copter; MATLAB; Simulink; state controller

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APA (6^th Edition):

Tesáček, Z. (2010). Řízení létajících robotů . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/15654

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tesáček, Zdeněk. “Řízení létajících robotů .” 2010. Thesis, Brno University of Technology. Accessed November 18, 2019. http://hdl.handle.net/11012/15654.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tesáček, Zdeněk. “Řízení létajících robotů .” 2010. Web. 18 Nov 2019.

Vancouver:

Tesáček Z. Řízení létajících robotů . [Internet] [Thesis]. Brno University of Technology; 2010. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/11012/15654.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tesáček Z. Řízení létajících robotů . [Thesis]. Brno University of Technology; 2010. Available from: http://hdl.handle.net/11012/15654

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

21. Růžička, Jiří. Dálkové ovládání pro quadrotor .

Degree: 2014, Brno University of Technology

URL: http://hdl.handle.net/11012/31694

► Tato bakalářská práce se zabývá návrhem dálkového ovládání pro Quadrotor. Cílem projektu je návrh a praktická realizace základní desky, jako náhradu vysloužilého gamepadu, která bude… (more)

Subjects/Keywords: Dálkové ovládání; Quadrotor; Návrh DPS; ZigBee; Xmega256A3U; Remote control; Quadrotor; Design of PCB; ZigBee; Xmega256A3U

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APA (6^th Edition):

Růžička, J. (2014). Dálkové ovládání pro quadrotor . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/31694

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Růžička, Jiří. “Dálkové ovládání pro quadrotor .” 2014. Thesis, Brno University of Technology. Accessed November 18, 2019. http://hdl.handle.net/11012/31694.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Růžička, Jiří. “Dálkové ovládání pro quadrotor .” 2014. Web. 18 Nov 2019.

Vancouver:

Růžička J. Dálkové ovládání pro quadrotor . [Internet] [Thesis]. Brno University of Technology; 2014. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/11012/31694.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Růžička J. Dálkové ovládání pro quadrotor . [Thesis]. Brno University of Technology; 2014. Available from: http://hdl.handle.net/11012/31694

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

22. Uhlíř, Václav. Návrh čtyř-rotorového vznášedla .

Degree: 2013, Brno University of Technology

URL: http://hdl.handle.net/11012/53523

► Tato studentská práce se zabývá návrhem čtyř-rotorového vznášedla (quadrotor) za účelem akademické platformy pro testování a další vývoj. Součástí práce je základní přehled možností konstrukce,… (more)

Subjects/Keywords: Robotika; UAV; čtyř-rotorové vznášedlo; quadrotor; stabilizace; Robotics; UAV; quadrocopter; quadrotor; stabilization

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APA (6^th Edition):

Uhlíř, V. (2013). Návrh čtyř-rotorového vznášedla . (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/53523

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Uhlíř, Václav. “Návrh čtyř-rotorového vznášedla .” 2013. Thesis, Brno University of Technology. Accessed November 18, 2019. http://hdl.handle.net/11012/53523.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Uhlíř, Václav. “Návrh čtyř-rotorového vznášedla .” 2013. Web. 18 Nov 2019.

Vancouver:

Uhlíř V. Návrh čtyř-rotorového vznášedla . [Internet] [Thesis]. Brno University of Technology; 2013. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/11012/53523.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Uhlíř V. Návrh čtyř-rotorového vznášedla . [Thesis]. Brno University of Technology; 2013. Available from: http://hdl.handle.net/11012/53523

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

23. Alvarez muñoz, Jonatan. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.

Degree: Docteur es, Automatique - productique, 2017, Grenoble Alpes; Universidad Autónoma de Puebla

URL: http://www.theses.fr/2017GREAT077

►

La manipulation aérienne a été un domaine de recherche actif ces dernières années, principalement parce que les applications actives des véhicules aériens autonomes (UAV en… (more)

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La manipulation aérienne a été un domaine de recherche actif ces dernières années, principalement parce que les applications actives des véhicules aériens autonomes (UAV en anglais), augmente l'employabilité de ces véhicules pour diverses applications.Le développement récent de la manipulation aérienne a trouvé des applications potentielles dans les deux domaines, militaires et civils. Les applications militaires incluent le patrouilleur des frontières, la détection des mines, la reconnaissance, etc., tandis que les applications civiles sont en matière de gestion des catastrophes, d'inspection des ponts, de construction, de livraison de matériel, de recherche et de sauvetage, etc.La recherche sur la robotique aérienne implique principalement des hélicoptères et des architectures de décollage et d'atterrissage verticales (VTOL). Le principal avantage de ces plates-formes est leur maniabilité et la capacité d'effectuer des vols stationnaires, ce qui est essentiel pour les applications. Cette thèse porte sur les avions VTOL, où l'hélicoptère à quatre rotors ou quadrirotor est principalement étudié.En ce qui concerne le problème de la manipulation aérienne, la quantité d'applications augmente, mais en même temps, la complexité de la modélisation et du contrôle d'un tel système est également plus grande. L'un des plus grands défis réside dans leur charge utile limitée. Certaines approches ont essayé de résoudre le problème en utilisant plusieurs robots pour transporter des charges utiles avec des pinces ou des câbles, où leurs effecteurs et pinces doivent être légers eux-mêmes et capables de saisir des formes complexes. Un autre défi est que la dynamique du robot est considérablement modifiée par l'ajout de charges utiles. Cependant, pour le transport de la charge utile, il est nécessaire que les robots puissent estimer l'inertie de la charge utile et s'y adapter pour améliorer les performances de suivi.Selon les antécédents et les défis sur les véhicules VTOL portant des charges utiles ou des manipulateurs, la contribution du présent travail est centrée sur la modélisation et la conception d'une loi de commande non linéaire et une analyse de stabilité formelle pour la stabilisation asymptotique d'un véhicule VTOL portant un bras manipulateur. Pour cela, un modèle général d'un quadrirotor portant un bras manipulateur est proposé. Après cela, une loi de commande presque globalement asymptotique lisse pour la stabilisation de l'attitude qui prend en compte les effets de mouvement du bras est conçue. Une fois que le problème d'attitude est résolu, il est possible de concevoir un contrôleur non linéaire globalement asymptotique pour la dynamique de position basée sur l'utilisation de somme des fonctions saturés afin de prendre en compte les limitations des actionneurs. Enfin, certaines expériences pour valider les lois de commande proposées sont effectuées.

Aerial manipulation has been an active area of research in recent years, mainly because the active tasking of Unmanned Aerial Vehicles (UAV) increases the employability…

Advisors/Committee Members: Marchand, Nicolas (thesis director).

Subjects/Keywords: Quadrotor; Manipulation aérienne; Contrôle optimal; Rejet de perturbation; Quadrotor; Aerial manipulation; Optimal control; Disturbance rejection; 620

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Alvarez muñoz, J. (2017). Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. (Doctoral Dissertation). Grenoble Alpes; Universidad Autónoma de Puebla. Retrieved from http://www.theses.fr/2017GREAT077

Chicago Manual of Style (16^th Edition):

Alvarez muñoz, Jonatan. “Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.” 2017. Doctoral Dissertation, Grenoble Alpes; Universidad Autónoma de Puebla. Accessed November 18, 2019. http://www.theses.fr/2017GREAT077.

MLA Handbook (7^th Edition):

Alvarez muñoz, Jonatan. “Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.” 2017. Web. 18 Nov 2019.

Vancouver:

Alvarez muñoz J. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. [Internet] [Doctoral dissertation]. Grenoble Alpes; Universidad Autónoma de Puebla; 2017. [cited 2019 Nov 18]. Available from: http://www.theses.fr/2017GREAT077.

Council of Science Editors:

Alvarez muñoz J. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. [Doctoral Dissertation]. Grenoble Alpes; Universidad Autónoma de Puebla; 2017. Available from: http://www.theses.fr/2017GREAT077

ETH Zürich

24. Malyuta, Danylo. Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy.

Degree: 2018, ETH Zürich

URL: http://hdl.handle.net/20.500.11850/248154

► Autonomous multirotor Micro Aerial Vehicles (MAVs) are currently being actively developed for personal, commercial and military applications. Three of the most rapidly growing use cases… (more)

▼ Autonomous multirotor Micro Aerial Vehicles (MAVs) are currently being actively developed for personal, commercial and military applications. Three of the most rapidly growing use cases are precision farming, environmental surveying and surveillance. These markets require full-cycle autonomous MAVs i.e. robots that can not only perform single-flight autonomous data collection but that can also automati- cally recharge so as to sustain long term operation with no human in the loop. No such suitable commercial MAV exists today. Motivated by this market gap, this thesis pioneers a full-cycle autonomous MAV system using an AscTec Pelican quadrotor. Designed for a data collection mission, the MAV takes off, flies a waypoint trajectory, lands on a contact-based charging pad, recharges and then repeats the cycle all without human presence. This thesis develops the entire guidance, visual landing navigation, control and autonomy engine subsystems from the ground up. After describing the hardware and software architectures, a visual landing navigation pipeline is developed based on Recursive Least Squares AprilTag bundle pose estimation. Then, guidance is explained which consists of polynomial trajectory generators, a real time trajectory sequencer and a trajectory tracker. A full cascaded control loop is designed next and this report explains its complete development starting from a flight dynamics model, then system identification, then controller theoretical design followed by implementation peculiarities, parameter tuning and finally an enlightening performance and robustness analysis. With the guidance, navigation and control system available, a state machine based autonomy engine is developed to carry out a full-cycle autonomous data collection mission. We finally present how these subsystems perform individually and as a complete, working system. Data is taken from a Software In The Loop high fidelity simulation as well as indoor and outdoor real life flight tests. The highlights of this body of work are: • An AprilTag 2 based visual landing navigation pipeline, an evaluation of bundle pose measurement accuracy and a definition of ideal bundle geometry; • A guidance trajectory sequencer that implements a well-defined set of real time trajectory sequencing mechanics; • A complete three stage cascaded control loop with novel quaternion-based yaw control; • A hierarchical autonomy engine based on self developed, Unified Modeling Language compatible state machines; • A modified RotorS simulator that can run a Software In The Loop simulation of the entire system presented herein. Advisors/Committee Members: Brockers, Roland, Stastny, Thomas, Hinzmann, Timo.

Subjects/Keywords: Guidance navigation and control; Autonomy; Takeoff; Vision-based landing; State machines; System identification; Quadrotor dynamics; Quadrotor control

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Malyuta, D. (2018). Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy. (Thesis). ETH Zürich. Retrieved from http://hdl.handle.net/20.500.11850/248154

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Malyuta, Danylo. “Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy.” 2018. Thesis, ETH Zürich. Accessed November 18, 2019. http://hdl.handle.net/20.500.11850/248154.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Malyuta, Danylo. “Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy.” 2018. Web. 18 Nov 2019.

Vancouver:

Malyuta D. Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy. [Internet] [Thesis]. ETH Zürich; 2018. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/20.500.11850/248154.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Malyuta D. Guidance, Navigation, Control and Mission Logic for Quadrotor Full-cycle Autonomy. [Thesis]. ETH Zürich; 2018. Available from: http://hdl.handle.net/20.500.11850/248154

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

25. Sales, Diego Câmara. Controlador nebuloso para estabilidade de quadrotores.

Degree: 2014, Universidade Federal do Amazonas

URL: http://tede.ufam.edu.br/handle/tede/5408

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Hoje em dia os helicópteros do tipo quadrotor estão se tornando populares no desenvolvimento de pesquisas em veículos aéreos não tripulados VANT, pela sua capacidade… (more)

Subjects/Keywords: Quadrotor; Estabilidade; Regras linguísticas; Controlador fuzzy; Sistema embarcado; Quadrotor; Fuzzy logic; Stability; Fuzzy control; ENGENHARIAS: ENGENHARIA ELÉTRICA

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sales, D. C. (2014). Controlador nebuloso para estabilidade de quadrotores. (Masters Thesis). Universidade Federal do Amazonas. Retrieved from http://tede.ufam.edu.br/handle/tede/5408

Chicago Manual of Style (16^th Edition):

Sales, Diego Câmara. “Controlador nebuloso para estabilidade de quadrotores.” 2014. Masters Thesis, Universidade Federal do Amazonas. Accessed November 18, 2019. http://tede.ufam.edu.br/handle/tede/5408.

MLA Handbook (7^th Edition):

Sales, Diego Câmara. “Controlador nebuloso para estabilidade de quadrotores.” 2014. Web. 18 Nov 2019.

Vancouver:

Sales DC. Controlador nebuloso para estabilidade de quadrotores. [Internet] [Masters thesis]. Universidade Federal do Amazonas; 2014. [cited 2019 Nov 18]. Available from: http://tede.ufam.edu.br/handle/tede/5408.

Council of Science Editors:

Sales DC. Controlador nebuloso para estabilidade de quadrotores. [Masters Thesis]. Universidade Federal do Amazonas; 2014. Available from: http://tede.ufam.edu.br/handle/tede/5408

University of Kentucky

26. Schmidt, Michael David. SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE.

Degree: 2011, University of Kentucky

URL: http://uknowledge.uky.edu/gradschool_theses/93

► The ANGEL project (Aerial Network Guided Electronic Lookout) takes a systems engineering approach to the design, development, testing and implementation of a quadrotor unmanned aerial… (more)

Subjects/Keywords: Quadrotor; ANGEL; Unmanned Aerial Vehicle; Control; Simulation; Electrical and Computer Engineering

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APA (6^th Edition):

Schmidt, M. D. (2011). SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE. (Masters Thesis). University of Kentucky. Retrieved from http://uknowledge.uky.edu/gradschool_theses/93

Chicago Manual of Style (16^th Edition):

Schmidt, Michael David. “SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE.” 2011. Masters Thesis, University of Kentucky. Accessed November 18, 2019. http://uknowledge.uky.edu/gradschool_theses/93.

MLA Handbook (7^th Edition):

Schmidt, Michael David. “SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE.” 2011. Web. 18 Nov 2019.

Vancouver:

Schmidt MD. SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE. [Internet] [Masters thesis]. University of Kentucky; 2011. [cited 2019 Nov 18]. Available from: http://uknowledge.uky.edu/gradschool_theses/93.

Council of Science Editors:

Schmidt MD. SIMULATION AND CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE. [Masters Thesis]. University of Kentucky; 2011. Available from: http://uknowledge.uky.edu/gradschool_theses/93

University of Canterbury

27. Duncan, Stuart Johann Maxwell. Visual control of multi-rotor UAVs.

Degree: Electrical and Electronic Engineering, 2014, University of Canterbury

URL: http://hdl.handle.net/10092/10051

► Recent miniaturization of computer hardware, MEMs sensors, and high energy density batteries have enabled highly capable mobile robots to become available at low cost. This… (more)

▼ Recent miniaturization of computer hardware, MEMs sensors, and high energy density batteries have enabled highly capable mobile robots to become available at low cost. This has driven the rapid expansion of interest in multi-rotor unmanned aerial vehicles. Another area which has expanded simultaneously is small powerful computers, in the form of smartphones, which nearly always have a camera attached, many of which now contain a OpenCL compatible graphics processing units. By combining the results of those two developments a low-cost multi-rotor UAV can be produced with a low-power onboard computer capable of real-time computer vision. The system should also use general purpose computer vision software to facilitate a variety of experiments. To demonstrate this I have built a quadrotor UAV based on control hardware from the Pixhawk project, and paired it with an ARM based single board computer, similar those in high-end smartphones. The quadrotor weights 980 g and has a flight time of 10 minutes. The onboard computer capable of running a pose estimation algorithm above the 10 Hz requirement for stable visual control of a quadrotor. A feature tracking algorithm was developed for efficient pose estimation, which relaxed the requirement for outlier rejection during matching. Compared with a RANSAC- only algorithm the pose estimates were less variable with a Z-axis standard deviation 0.2 cm compared with 2.4 cm for RANSAC. Processing time per frame was also faster with tracking, with 95 % confidence that tracking would process the frame within 50 ms, while for RANSAC the 95 % confidence time was 73 ms. The onboard computer ran the algorithm with a total system load of less than 25 %. All computer vision software uses the OpenCV library for common computer vision algorithms, fulfilling the requirement for running general purpose software. The tracking algorithm was used to demonstrate the capability of the system by per- forming visual servoing of the quadrotor (after manual takeoff). Response to external perturbations was poor however, requiring manual intervention to avoid crashing. This was due to poor visual controller tuning, and to variations in image acquisition and attitude estimate timing due to using free running image acquisition. The system, and the tracking algorithm, serve as proof of concept that visual control of a quadrotor is possible using small low-power computers and general purpose computer vision software.

Subjects/Keywords: computer vision; opencv; quadrotor; uav; multirotor; feature matching; ransac

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Duncan, S. J. M. (2014). Visual control of multi-rotor UAVs. (Thesis). University of Canterbury. Retrieved from http://hdl.handle.net/10092/10051

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Duncan, Stuart Johann Maxwell. “Visual control of multi-rotor UAVs.” 2014. Thesis, University of Canterbury. Accessed November 18, 2019. http://hdl.handle.net/10092/10051.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Duncan, Stuart Johann Maxwell. “Visual control of multi-rotor UAVs.” 2014. Web. 18 Nov 2019.

Vancouver:

Duncan SJM. Visual control of multi-rotor UAVs. [Internet] [Thesis]. University of Canterbury; 2014. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/10092/10051.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Duncan SJM. Visual control of multi-rotor UAVs. [Thesis]. University of Canterbury; 2014. Available from: http://hdl.handle.net/10092/10051

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Canterbury

28. Stowers, John Ross. Biologically Inspired Visual Control of Flying Robots.

Degree: Electrical and Computer Engineering, 2013, University of Canterbury

URL: http://hdl.handle.net/10092/8729

► Insects posses an incredible ability to navigate their environment at high speed, despite having small brains and limited visual acuity. Through selective pressure they have… (more)

▼ Insects posses an incredible ability to navigate their environment at high speed, despite having small brains and limited visual acuity. Through selective pressure they have evolved computationally efficient means for simultaneously performing navigation tasks and instantaneous control responses. The insect’s main source of information is visual, and through a hierarchy of processes this information is used for perception; at the lowest level are local neurons for detecting image motion and edges, at the higher level are interneurons to spatially integrate the output of previous stages. These higher level processes could be considered as models of the insect's environment, reducing the amount of information to only that which evolution has determined relevant. The scope of this thesis is experimenting with biologically inspired visual control of flying robots through information processing, models of the environment, and flight behaviour. In order to test these ideas I developed a custom quadrotor robot and experimental platform; the 'wasp' system. All algorithms ran on the robot, in real-time or better, and hypotheses were always verified with flight experiments. I developed a new optical flow algorithm that is computationally efficient, and able to be applied in a regular pattern to the image. This technique is used later in my work when considering patterns in the image motion field. Using optical flow in the log-polar coordinate system I developed attitude estimation and time-to-contact algorithms. I find that the log-polar domain is useful for analysing global image motion; and in many ways equivalent to the retinotopic arrange- ment of neurons in the optic lobe of insects, used for the same task. I investigated the role of depth in insect flight using two experiments. In the first experiment, to study how concurrent visual control processes might be combined, I developed a control system using the combined output of two algorithms. The first algorithm was a wide-field optical flow balance strategy and the second an obstacle avoidance strategy which used inertial information to estimate the depth to objects in the environment - objects whose depth was significantly different to their surround- ings. In the second experiment I created an altitude control system which used a model of the environment in the Hough space, and a biologically inspired sampling strategy, to efficiently detect the ground. Both control systems were used to control the flight of a quadrotor in an indoor environment. The methods that insects use to perceive edges and control their flight in response had not been applied to artificial systems before. I developed a quadrotor control system that used the distribution of edges in the environment to regulate the robot height and avoid obstacles. I also developed a model that predicted the distribution of edges in a static scene, and using this prediction was able to estimate the quadrotor altitude.

Subjects/Keywords: quadrotor helicopter; biologically inspired; biomimetic; computer vision; robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Stowers, J. R. (2013). Biologically Inspired Visual Control of Flying Robots. (Thesis). University of Canterbury. Retrieved from http://hdl.handle.net/10092/8729

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Stowers, John Ross. “Biologically Inspired Visual Control of Flying Robots.” 2013. Thesis, University of Canterbury. Accessed November 18, 2019. http://hdl.handle.net/10092/8729.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Stowers, John Ross. “Biologically Inspired Visual Control of Flying Robots.” 2013. Web. 18 Nov 2019.

Vancouver:

Stowers JR. Biologically Inspired Visual Control of Flying Robots. [Internet] [Thesis]. University of Canterbury; 2013. [cited 2019 Nov 18]. Available from: http://hdl.handle.net/10092/8729.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Stowers JR. Biologically Inspired Visual Control of Flying Robots. [Thesis]. University of Canterbury; 2013. Available from: http://hdl.handle.net/10092/8729

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Wright State University

29. Avram, Remus C. Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs.

Degree: PhD, Engineering PhD, 2016, Wright State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320

► Quadrotors represent a special class of Unmanned Aerial Vehicles (UAVs) and have attracted significant attention in recent years due to their potential in various military… (more)

▼ Quadrotors represent a special class of Unmanned Aerial Vehicles (UAVs) and have attracted significant attention in recent years due to their potential in various military and civilian applications. However, due to their intrinsic fabrication process and component damage, quadrotors are prone to various type of faults. This dissertation presents the design, analysis, and experimental implementation of fault diagnosis, fault-tolerant control, and controller verification methods to achieve safety assurance and trusted autonomy of quadrotor UAVs. First, the issue of sensor faults is investigated under two different scenarios: (1) the case when all Euler angles are available for measurement; (2) the case when roll and pitch angles are not measurable and need to be estimated. Nonlinear adaptive estimators are designed to provide possible simultaneous accelerometer and gyroscope fault detection, isolation, and bias estimation. Next, the issue of fault-tolerant control of quadrotor UAV in the presence of actuator faults is considered. First, the design of an integrated fault diagnosis and accommodation scheme is investigated. Nonlinear adaptive thresholds are designed to improve the robustness of the fault detection and isolation algorithm. The fault diagnostic information is used for accommodating the effect of the faults. Second, a nonlinear adaptive fault-tolerant altitude and attitude controller is developed to automatically stabilize and recover tracking performance of the quadrotor, even in the presence of possible multiple simultaneous actuator faults. Compared with the first approach, the adaptive control framework is able to automatically accommodate the effects of actuator faults without the need of a fault diagnosis mechanism. Finally, a run-time assurance architecture is investigated for the verification and validation of the adaptive fault-tolerant altitude attitude controller. The algorithms are presented with a rigorous framework aimed at characterizing their performance properties. The above algorithms are implemented and evaluated using a real-time indoor quadrotor test environment. Experimental flight test results are shown to illustrate the effectiveness of the proposed methods. Advisors/Committee Members: Zhang, Xiaodong (Advisor).

Subjects/Keywords: Electrical Engineering; fault diagnosis; fault-tolerant control; adaptive control; quadrotor UAVs

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Avram, R. C. (2016). Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs. (Doctoral Dissertation). Wright State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320

Chicago Manual of Style (16^th Edition):

Avram, Remus C. “Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs.” 2016. Doctoral Dissertation, Wright State University. Accessed November 18, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320.

MLA Handbook (7^th Edition):

Avram, Remus C. “Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs.” 2016. Web. 18 Nov 2019.

Vancouver:

Avram RC. Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs. [Internet] [Doctoral dissertation]. Wright State University; 2016. [cited 2019 Nov 18]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320.

Council of Science Editors:

Avram RC. Fault Diagnosis and Fault-Tolerant Control of Quadrotor UAVs. [Doctoral Dissertation]. Wright State University; 2016. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=wright1464343320

30. Santos, Tiago Fernando Couto Sarmento dos. Sistema de visão para percepção e navegação de um UAV Quadrotor.

Degree: 2009, Instituto Politécnico do Porto

URL: http://www.rcaap.pt/detail.jsp?id=oai:recipp.ipp.pt:10400.22/2289

►

Mestrado em Engenharia Electrotécnica e de Computadores

A inspecção visual, de infra-estruturas, de áreas de difícil acesso ou áreas em ambientes hostis à presença humana,… (more)

▼

Mestrado em Engenharia Electrotécnica e de Computadores

A inspecção visual, de infra-estruturas, de áreas de difícil acesso ou áreas em ambientes hostis à presença humana, assumem nos dias de hoje um carácter determinante, no processo de manutenção de infra-estruturas críticas, na monitorização de áreas de risco e/ou sinistradas, e, na vigilância de áreas de acesso restrito ou controlado. Para estas missões os veículos aéreos não tripulados (UAV’s) na categoria dos VTOL (Vertical Take- Off Landing) e em especial quadrotors, apresentam-se como uma solução eficaz (ausência de riscos humanos e baixo custo sistemático) abrindo novas perspectivas para as aplicações de inspecção e monitorização. Em missões de inspecção e monitorização remota nem sempre o streaming de vídeo em tempo real é a melhor representação da informação para o utilizador quando se pretende uma inspecção detalhada de uma zona ou estrutura. Consequentemente, será preferível a construção de uma representação ´única do cenário de inspecção, através da composição de um mosaico de imagens. Nesta dissertação endereçamos os elementos necessários ao desenvolvimento de um sistema de inspecção visual em tempo real, capaz de servir como mapa de navegação para veículos autónomos aéreos, bem como em cenários de inspecção dotar o utilizador de uma melhor percepção das zonas e estruturas sob inspecção. Foi efectuada uma análise dos projectos existentes de UAV’s quadrotors mais relevantes com enfâse nas capacidades sensoriais e de percepção do ambiente que os rodeia, bem como das técnicas de mosaico para aplicações de inspecção e navegação em tempo real. Neste trabalho são expostos conceitos necessários `a compreensão da formação de um mosaico de imagens e os fundamentos de navegação que permitem compreender de que modo um sistema de visão pode apoiar outros sensores de navegação. Foram implementadas técnicas de mosaico em MathWorks Matlab utilizando abordagens do estado da arte combinando detectores de pontos de interesse SIFT (Scalei Invariant Feature Transform), com métodos de exclusão de falsas correspondências baseados em RANSAC (Random Sample Consensus), estimação de transformações recorrendo a técnicas de mínimos quadrados e com juncão de imagens e pontos do mapa utilizando transformações affine e projectiva. Tendo como objectivo a utilização das técnicas de mosaico em tempo real foi proposta e implementada uma variante da técnica anterior onde a informação de um sistema inercial é utilizada substituindo o método RANSAC na etapa de exclusão de falsas associações. Ambos os métodos propostos foram validados experimentalmente apresentando resultados idênticos em termos de mosaico e informação para navegação, mas o novo método apresentou uma redução significativa em termos computacionais, o que traz uma mais valia na aplicação em tempo real. O sistema desenvolvido permite obter mosaicos de imagens para inspecção e navegação. Para a criação de um mosaico de imagens é utilizado o algoritmo de detecção de pontos de interesse em imagens SIFT. Como os pontos de duas…

Advisors/Committee Members: Almeida, José.

Subjects/Keywords: UAV; Quadrotor; Percepção; Navegação; Mosaico de imagens; Inspecção; Visão computacional; Robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Santos, T. F. C. S. d. (2009). Sistema de visão para percepção e navegação de um UAV Quadrotor. (Thesis). Instituto Politécnico do Porto. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:recipp.ipp.pt:10400.22/2289

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Santos, Tiago Fernando Couto Sarmento dos. “Sistema de visão para percepção e navegação de um UAV Quadrotor.” 2009. Thesis, Instituto Politécnico do Porto. Accessed November 18, 2019. http://www.rcaap.pt/detail.jsp?id=oai:recipp.ipp.pt:10400.22/2289.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Santos, Tiago Fernando Couto Sarmento dos. “Sistema de visão para percepção e navegação de um UAV Quadrotor.” 2009. Web. 18 Nov 2019.

Vancouver:

Santos TFCSd. Sistema de visão para percepção e navegação de um UAV Quadrotor. [Internet] [Thesis]. Instituto Politécnico do Porto; 2009. [cited 2019 Nov 18]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:recipp.ipp.pt:10400.22/2289.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Santos TFCSd. Sistema de visão para percepção e navegação de um UAV Quadrotor. [Thesis]. Instituto Politécnico do Porto; 2009. Available from: http://www.rcaap.pt/detail.jsp?id=oai:recipp.ipp.pt:10400.22/2289

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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Open Access Theses and Dissertations