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en:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 16:48] – castillo | en:stabilisation_et_commande_d_un_uav_en_presence_de_rafales_de_vent [2016/04/07 17:33] (current) – castillo | ||
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Grant from __Mexicain Government__ \\ | Grant from __Mexicain Government__ \\ | ||
Location: Heudiasyc \\ | Location: Heudiasyc \\ | ||
- | Date PhD finished: November, 2012 \\ | + | Date PhD finished: |
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Line 29: | Line 29: | ||
== Abstract == | == Abstract == | ||
- | Today, | + | This thesis is focused in the design |
+ | an Unmanned Aerial Vehicle (UAV) in presence of wind disturbances. The proposed | ||
+ | control strategies have been tested in simulations | ||
+ | in two different platforms. It introduces | ||
+ | of wind. We obtained | ||
+ | forces induced by the wind for a Planar Vertical Take-Off and Landing (PVTOL) | ||
+ | aircraft and for the quadrotor rotorcraft. \\ | ||
- | In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence | + | On the other hand, three different nonlinear control laws based on the Lyapunov |
+ | analysis have been developed to stabilize | ||
+ | uses the Robust Control Lyapunov Functions (RCLFs). Given the complexity | ||
+ | of the problem, we begun with a mini car which moves on its longitudinal axis. This | ||
+ | result has been extended to the case of the PVTOL aircraft | ||
+ | Several simulations have been carried out to validate the proposed algorithms. | ||
+ | To test its viability in a real application, we have realized experiments using a PVTOL | ||
+ | prototype. The simulations and experimental results | ||
+ | performance | ||
- | Firstly, | + | The second approach is based on the saturation functions. We have proposed a |
- | Secondly, the question of trajectory generation | + | robust analysis with respect to unknown external disturbances and nonlinear uncertainties |
+ | in the model. The proof takes the hypothesis that the wind is bounded. The | ||
+ | algorithms have been tested in a quadrotor prototype and the results showed a good | ||
+ | performance even in presence of wind disturbances. \\ | ||
- | Thirdly, | + | The last approach considers |
+ | specially the passivity. Thus, a sub-optimal | ||
+ | analysis is based on the full energy of the system, the passivity, the Lyapunov | ||
+ | and the use of dynamic programming. The simulation results have showed that this | ||
+ | control law can be useful when the flying vehicle | ||
+ | than hover. \\ | ||
+ | |||
+ | Finally, a control scheme using a state observer | ||
+ | uses the Extended Kalman Filter (EKF) to estimate the position in the (x,y) plain and | ||
+ | the vertical velocity ˙z of a quadrotor rotorcraft. Using the measurements of an inertial | ||
+ | measurement unit, an altitude sensor, a vision system and the control inputs the system | ||
+ | state is estimated. The vision system is used to compute the translational velocities | ||
+ | of the vehicle and it is composed by a camera and an optical flow algorithm. The | ||
+ | estimator has been validated by experiments | ||
+ | conclusive. | ||
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