<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> An original configuration of a small aerial vehicle having eight rotors is presented. Four are devoted to the stabilization orientation helicopter, and other four used drive lateral displacements. A precompensation on roll pitch angles has been introduced so that attitude dynamics practically independent translational dynamics. This compensation directly related velocity motors. The dynamical...

This research presents a way to improve the autonomous maneuvering capability of four-degrees-of-freedom (4DOF) underwater vehicle (AUV) perform trajectory tracking tasks in disturbed environment. study considers four second-order input-affine nonlinear equations for translational (x,y,z) and rotational (heading) dynamics real AUV subject hydrodynamic parameter uncertainties (added mass damping coefficients), unknown dynamics, external disturbances. We proposed an identification-control...

In this paper, we deal with the problem of local positioning and orientation a rotorcraft in indoor flight using simple vision system. We apply two different approaches to obtain navigation system for flying machine. The first approach is based on perspective n-points second one follows plane-based pose technique. Our aim good estimate variables that are difficult measure conventional GPS inertial sensor urban environment or indoor. propose method translational speed as well position frame

The Unmanned Aerial Vehicle (UAV) attitude stabilization problem has been dealt with in many previous works through applying a vast range of philosophies control strategies. In this paper, discrete controller based on Linear Quadratic Regulator (LQR) plus integral action is synthesized to stabilize the and altitude quadrotor helicopter. This kind strategy allows us reduce energy consumption rate, desired UAV behavior properly achieved. Experimental tests are conducted external disturbances...

In this paper we present an original configuration of a small aerial vehicle having eight rotors, four them are devoted to stabilize the helicopter and rest used drive lateral displacements. The dynamical model is obtained using Euler-Lagrange approach, attitude dynamics (roll, pitch yaw) practically independent translational corresponding displacements (x y), except for compensation on angles roll pitch. This directly related velocity motors each axis. With particular many task could be...

This paper presents a visual feedback control of small UAV using image-based servoing with stereo vision. In order to the orientation and position flying robot respect an object or target well defined, we propose use navigation system based on binocular vision combined inertial sensors. combination sensors, allows us get complete characterization state aerial vehicle. It means, are able estimate 3D position, while from sensors can obtain rotorcraft. Real time experiences developed validate...

In this contribution nonlinear stabilizing and optimal control strategies for a quadrotor mini helicopter are addressed. These an alternative the of flying machines not much explored yet. Simulation real-time experiences presented in contribution. Nonlinear algorithm has been successfully implemented on autonomous aerial vehicle demonstrates acceptable performance.

Recently, the research in area of autonomous miniature flying robots is growing thanks to development new configurations and prototypes Unmanned Aerial Vehicles (UAV). In this paper, we introduce problem attitude altitude control a mini-quadrotor UAV hovering-mode indoor outdoor applications. Therefore, have implemented strategy based on speed sensing each brushless motors. As result, aerial vehicle has good robust stabilization horizontal plane. This paper also describes stabilize...

SUMMARY In this paper we address the problem of stabilization and local positioning a four-rotor rotorcraft using computer vision. Our approaches to estimate orientation position combine measurements from an Inertial Measurement Unit (IMU) vision system composed single camera. first stage, is used yaw angle rotorcraft, while in second stage translational velocity flying robot. both cases IMU gives pitch roll angles at higher rate. The technique combines homogeneous transformation approach...

In this paper we propose a discrete time optimal control law to stabilize the four-rotor rotorcraft in attitude and position. The main objective of kind is save energy therefore increase effective takeoff hover flight phases for robotic platforms. synthesized considering infinite horizon combined with an exact linearization by applying nonlinear over equations describing robot dynamic model. obtained simple, easy better adapted be programmed micro-controller. Both simulation experimental...

In this paper we present a global stabilization of the well known PVTOL aircraft. The control strategy is obtained by using Lyapunov approach and saturation functions. algorithm arbitrarily bounded. Simulations real-time experiments show robustness controller with respect to aggressive manual disturbances.

In this paper we propose an alternative approach to estimate the UAV translational velocity and position applying onboard optical flow sensor. This, is a appropriated sensor be used in mini due its lightness smallness. With are able perform real-time autonomous outdoor indoor flight without using GPS information, which some case blocked, denied or jammed. Additionally, PD controller robustly tuned order compensate uncertain measurements provided by The experimental results obtained shown...

The paper presents the modeling and control of a class multirotor miniature aerial vehicle (MAV) having an onboard robotic manipulator. These kind configuration represents logical evolution in MAV development race. main goal is to outstrip current operational profile, specially civilian field, by endowing classical configurations with novel capabilities interact surrounding environment. equations that describes dynamic model this robot, for translation rotational motion, are obtained through...

Summary In this article, a suboptimal nonlinear discrete control sequence for affine systems is proposed. Using the dynamic programming approach in time domain, obtained every step considering quadratic performance index of finite horizon . The proposed strategy applied to improve and energetic performances quadrotor unmanned aerial vehicle, when it subject special maneuvers or flight conditions, such as take off landing phases trajectory tracking. For these tasks, could be required...

Abstract This paper deals with the parameter identification problem for nonlinear mechanical systems based on state estimation. Here, concept of Sliding Mode Observer finite time estimation and Least-Square Method have been combined; thus, guaranteeing that estimated converges to real one in a time. The asymptotic is performed by applying approach, minimizing so-called joint uncertainty; this process, specific persistent excitation condition introduced guarantee effectiveness proposed...

This paper is about the control tracking trajectories with a finite optimal strategy using quadcopter helicopter. We performed lot of experiments to obtained statistic energetic comparative analysis PID and laws. The experimental results have shown that better than based on energy consumption.