Modeling and Control of Small and Mini Rotorcraft UAVs

Transcription

1 Contents 1 Introduction What are Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs)? Unmanned Aerial Vehicles and Micro Aerial Vehicles: Definitions, History,Classification, andapplications Definition Brief History of UAVs Classification of UAV Platforms Applications Recent Research and Development of Civil Use Autonomous UAVs in Japan Subjects and Prospects for Control and Operation Systems of Civil Use Autonomous UAVs Future Research and Development of Autonomous UAVs andmavs Objectives and Outline of the Book References Part I Modeling and Control of Small and Mini Rotorcraft UAVs 2 Fundamental Modeling and Control of Small and Miniature Unmanned Helicopters Introduction Fundamental Modeling of Small and Miniature Helicopters Small and Miniature Unmanned Helicopters Modeling of Single-Rotor Helicopter Modeling of Coaxial-Rotor Helicopter Control System Design of Small Unmanned Helicopter Optimal Control Optimal Preview Control xi

2 xii Contents 2.4 Experiment Experimental Setup for Single-Rotor Helicopter Experimental Setup of Coaxial-Rotor Helicopter Static Flight Control Trajectory-Following Control Summary References Autonomous Control of a Mini Quadrotor Vehicle Using LQG Controllers Introduction Description of the Experimental Platform Experimental Setup Embedded Control System Ground Control Station: GCS Modeling and Controller Design Modeling Controller Design Experiment and Experimental Result Summary References Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control Introduction Quad Tilt Wing-Unmanned Aerial Vehicle Modeling of QTW-UAV Coordinate System Yaw Model Roll and Pitch Attitude Model Attitude Control System Design Control System Design for Yaw Dynamics Control System Design for Roll and Pitch Dynamics Experiment Heading Control Experiment Roll and Pitch Attitude Control Experiments Control Performance Validation at Transient State Summary References Linearization and Identification of Helicopter Model for Hierarchical Control Design Introduction Modeling Linkages Dynamics of Main Rotor and Stabilizer...101

3 Contents xiii Dynamics of Fuselage Motion Small Helicopter Model ParameterIdentification and Validation Controller Design Configuration of Control System Attitude Controller Design Translational Motion Control System Experiment Avionics Architecture Attitude Control Hovering and Translational Flight Control Summary References Part II Advanced Flight Control Systems for Rotorcraft UAVs and MAVs 6 Analysis of the Autorotation Maneuver in Small-Scale Helicopters and Application for Emergency Landing Introduction Autorotation Aerodynamic Force at Blade Element Aerodynamics in Autorotation Nonlinear Autorotation Model Based on Blade Element Theory Thrust Torque Induced Velocity Validity of Autorotation Model Experimental Data Verification of Autorotation Model Improvement in Induced Velocity Approximation Validity of Approximated Induced Velocity Simulation Experiment Autorotation Landing Control Vertical Velocity Control Linearization Discrete State Space Model Determination of Parameters by a Neural Network Simulation Summary References...150

4 xiv Contents 7 Autonomous Acrobatic Flight Based on Feedforward Sequence Control for Small Unmanned Helicopter Introduction Hardware Setup Manual Maneuver Identification Trajectory Setting and Simulation Execution Logic and Experiment Height and Velocity During Maneuver Summary References Mathematical Modeling and Nonlinear Control of VTOL Aerial Vehicles Introduction Dynamic Model of Small and Mini VTOL UAVs Rigid Body Dynamics Aerodynamics Forces and Torques Nonlinear Hierarchical Flight Controller: Design and Stability Flight Controller Design Stability Analysis of the Complete Closed-LoopSystem UAV System Integration: Avionics and Real-Time Software Air Vehicle Description Navigation Sensors and Real-Time Architecture Guidance, Navigation and Control Systems and TheirReal-Time Implementation Flight Tests and Experimental Results Attitude Trajectory Tracking Automatic Take-off, Hovering and Landing Long-Distance Flight Fully Autonomous Waypoint Navigation Arbitrary Trajectory Tracking Summary Appendix References Formation Flight Control of Multiple Small Autonomous Helicopters Using Predictive Control Introduction Configuration of Control System Leader Follower Path Planner Design Guidance Controller Design by Using Model Predictive Control Velocity Control System Position Model Model Predictive Controller Design Observer Design...205

5 Contents xv 9.5 Simulations and Experiments Simulations Experiment Constraint and Collision Avoidance Robustness Against Disturbance Summary References Part III Guidance and Navigation of Short-Range UAVs 10 Guidance and Navigation Systems for Small Aerial Robots Introduction Embedded Guidance System for Miniature Rotorcraft UAVs Mission Definition and Path Planning Flight Mode Management Safety Procedures and Flight Termination System Real-Time Generation of Reference Trajectories Conventional Navigation Systems for Aerial Vehicles Attitude and Heading Reference System GPS/INS for Position and Velocity Estimation Altitude Estimation Using Pressure Sensor and INS Visual Navigation in GPS-Denied Environments Flight Control Using Optic Flow Visually-Driven Odometry by Features Tracking Color-Based Vision System for Target Tracking Stereo Vision-Based System for Accurate Positioningand Landingof Micro Air Vehicles Summary References Design and Implementation of Low-Cost Attitude Quaternion Sensor Introduction Coordinate System and Quaternion Definition of Coordinate System Quaternion Attitude and Heading Estimation Algorithms Construction of Process Model Extended Kalman Filter Practical Application Application and Evaluation Summary References...265

6 xvi Contents 12 Vision-Based Navigation and Visual Servoing of Mini Flying Machines Introduction Related Work on Visual Aerial Navigation Description of the Proposed Vision-Based Autopilot Aerial Visual Odometer for Flight Path Integration Features Selection and Tracking Estimation of the Rotorcraft Pseudo-motion in the ImageFrame Rotation Effects Compensation Adaptive Observer for Range Estimation and UAV MotionRecovery Mathematical Formulation of the Adaptive Visual Observer Generalities on the Recursive-Least-Squares Algorithm Application of RLS Algorithm to Range (Height)Estimation Fusion of Visual Estimates, Inertial and Pressure Sensor Data Nonlinear 3D Flight Controller: Design and Stability Rotorcraft Dynamics Modelling Flight Controller Design Closed-Loop System Stability and Robustness Aerial Robotic Platform and Software Implementation Description of the Aerial Robotic Platform Implementation of the Real-Time Software Experimental Results of Vision-Based Flights Static Tests for Rotation Effects Compensationand Height Estimation Outdoor Autonomous Hovering with Automatic Take-offand Landing Automatic Take-off, Accurate Hovering and Precise Auto-landingon Some ArbitraryTarget Tracking a Moving Ground Target with Automatic Take-offand Auto-landing Velocity-Based Control for Trajectory TrackingUsing Vision Position-Based Control for Trajectory TrackingUsing Visual Estimates GPS-Based Waypoint Navigation and Comparisonwith the Visual OdometerEstimates Discussion Summary References...300

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