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MPC-based FTC with FDD against Actuator Faults of UAVs |
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Bin Yu(Concordia University, Canada), Youmin Zhang(Xi'an University of Technology, China), Yaohong Qu(Northwestern Polytechnical University, China) |
The increasing development of unmanned aerial vehicle (UAV) requires that the controller of a UAV should possess fault-tolerant/reconfigurable function to accommodate unpredicted situations.
The partial loss of control effectiveness fault of actuators is addressed in this paper.
The proposed fault-tolerant control (FTC) system uses MPC technique to design fault-tolerant controller and state-augmented Kalman filter (SAKF) to achieve fault detection and diagnosis (FDD) function.
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Sensing and control of a quadrotor using a visual inertial fusion method |
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Ping Li, Matthew Garratt, Andrew Lambert(The University of New South Wales, Canberra, Australia) |
A visual inertial fusion method is proposed in this paper for the state estimation and control of a low cost Unmanned Aerial Vehicle. A binary template matching algorithm is combined with a gradient based algorithm to compute optic flow (OF). The proposed OF method is capable of handling large displacement, illumination variation and gives subpixel accuracy. With a ground plane assumption, the Jacobian motion model is employed to solve for the unscaled linear velocity, which is fused with inertial measurements in an Extended Kalman Filter (EKF) framework to estimate metric speed and altitude.discount prescription drug cards drug coupons type 2 diabetes signs diabetes treatment cialis discount coupons go cialis price check lilly cialis coupons click free discount prescription cards |
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Development of a Blimp Robot Consisting of Four-divided Envelopes with Four Propellers |
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Keigo Watanabe(Okayama Univ, Japan) |
A new blimp robot is proposed to make a rise or downward movement easy, where four partial envelopes are arranged, centering on a gondola, and four propellers are attached around the gondola. After pointing out the structural problem of a conventional X4 blimp robot, the design and manufacture of a new type body to be developed is described in detail. In order to examine the usefulness of the structure of the blimp robot developed, some experiments are conducted to visually check a translational motion, pitch motion and yaw motion in open-loop control.bystolic generic link bystolic coupons for free |
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Position and Attitude Estimation using Ultrasonic for Autonoumous Flying Robot and System Construction |
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Shotaro Sato, Chinthaka Premachandra, Kiyotaka Kato(Tokyo University of Science, Japan) |
It is important for an autonomous flying robot to estimate the self-position and attitude. However, GPS cannot be used because of the accuracy problem indoors. This paper proposes a measurement system by using the positional relation between an ultrasonic transmitter placed on the ground and an ultrasonic receiver mounted on a flying robot. Moreover, the system applies an estimator using an Extended Kalman Filter (EKF) in order to improve the measurement accuracy. The simulation experiment demonstrates the propriety of the theory.what is the generic name for bystolic click bystolic savings card program new treatment for diabetes dosage for cialis type 2 diabetes signs diabetes treatment ciprofloxacin go cipromed |
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3D path tracking of underactuated AUVs with general form of dynamics |
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Ji-Hong Li, Jung-Tae Kim, Mun-Jik Lee, Hyung-Ju Kang(Korea Institute of Robot and Convergence, Korea, Republic of ), Min-Jae Kim(Agency of Defense Development, Korea, Republic of ) |
3D Path Tracking of Underactuated AUVs with General Form of Dynamics
Ji-Hong Li*1 , Jung-Tae Kim1, Mun-Jik Lee1, Hyung-Ju Kang1, Min-Jae Kim2
This paper proposes a 3D path tracking method for a class of torpedo-type AUVs (autonomous underwater vehicles) with general form of dynamics. First, we introduce certain two spherical coordinate transformations so as to transform the vehicle model into three-inputs-three-outputs second-order strict-feedback form. To avoid possible singularity problem in the recursive control design, an asymptotic modification of orientation concept is introduced.cialis discount coupons open cialis savings and coupons prescription discounts cards drug coupons coupons for cialis 2016 voltaren ara site voltaren szemcsepp ciprofloxacin go cipromed |
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A Study on Underwater Track Vehicle System |
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Mai The Vu, Hyeung-Sik Choi, Joon-Yong Kim, Dae-Hyeung Ji, Young-Jin Lee, Dong-Ho Choi(Korea Maritime and Ocean University, Korea, Republic of ) |
In this paper, analyses on the design of the underwater track vehicle (UTV) with ladder trencher for cutting underwater soils are conducted. For this, with the mechanics of the underwater ladder trencher are analyzed. Also, the forces of single cutting tools of ladder trencher in relation with force interaction to. Tractive thrust and normal reaction are analyzed and used to assess the traction, weight and balance factors for self-propelled machines. Design of the UTV based on the sensitivity analysis on the parameters of tractive thrust and normal reaction is studied and is analyzed. Besides,prescription discounts cards read coupons for cialis 2016 |
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