Unmanned Rotorcraft Systems

Springer Science & Business Media
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An unmanned aerial vehicle (UAV) is an aircraft that is equipped with necessary data processing units, sensors, automatic control and communications systems, and is capable of performing autonomously flight missions without a human pilot. Unmanned Rotorcraft Systems provides a complete treatment of the design of fully autonomous miniature rotorcraft UAVs. It is an integration of advanced technologies developed in communications, computing and control areas. In particular, it focuses on:

•the systematic hardware construction;

•software systems integration;

•aerodynamic modeling; and

•automatic flight control system design.

Emphasis is extended to the cooperative control and flight formation of multiple UAVs, and vision-based ground target tracking and landing on moving platforms. Other issues such as the development of GPSless indoor micro aerial vehicles and vision-based navigation are also highlighted.

The proposed monograph aims to explore the research and development of fully functional miniature UAV (unmanned-aerial-vehicle) rotorcraft. This consists of a small-scale basic rotorcraft with all necessary accessories onboard, and a ground station. The unmanned system is an integration of advanced technologies developed in communications, computing and control areas. It is an excellent testing ground for trialing and implementing modern control techniques. It is however a highly challenging process. The aerodynamics of a small-scale rotorcraft such as a hobby helicopter are similar to its full-scale counterpart but has some unique characteristics, such as the utilization of stabilizer bar and higher main/tail rotors rotation speed. Besides these, the strict limitation on payload also increases the difficulty on upgrading a small-scale rotorcraft to a UAV with full capacities. Based on its various characteristics and limitations, a light-weight but effective onboard computer system with corresponding onboard/ground software should be carefully designed to realize the system identification and automatic flight requirements. These issues will be addressed in detail in this monograph. Research on the following will be detailed:

•utilizing the vision-based system for accomplishing ground target tracking;

•attacking and landing;

•cooperative control and flight formation of muitiple unmanned rotorcraft;

•future research directions on the related areas.

The book will be a good reference for researchers and students working on the related subjects. Unmanned Rotorcraft Systems will be of great value to practicing engineers in rotorcraft industries and to researchers in areas related to the development of unmanned systems in general. It may be used as a reference for advanced undergraduate and graduate students in aeronautics and astrinautics, electrical and mechanical engineering.

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About the author

Guowei Cai's research area is the development of unmanned aerial systems, aerodynamic modeling and flight control systems.

Ben M. Chen's research areas include the development of unmanned systems, robust and non-linear control, and systems theory and control applications.

Tong H. Lee's main research foci are in unmanned aerial systems, adaptive control systems, knowledge-based control and intelligent motion control.

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Additional Information

Publisher
Springer Science & Business Media
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Published on
Jun 1, 2011
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Pages
270
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ISBN
9780857296351
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Language
English
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Genres
Computers / Intelligence (AI) & Semantics
Computers / Programming / Algorithms
Computers / Systems Architecture / General
Technology & Engineering / Aeronautics & Astronautics
Technology & Engineering / Automation
Technology & Engineering / Electrical
Technology & Engineering / Robotics
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Content Protection
This content is DRM protected.
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Fundamental problems in aerial robotics include the tasks of spatial motion, spatial sensing and spatial reasoning. Reasoning in complex environments represents a difficult problem. The issues specific to spatial reasoning are planning and decision making. Planning deals with the trajectory algorithmic development based on the available information, while decision making determines priorities and evaluates potential environmental uncertainties.

The issues specific to planning and decision making for aerial robots in their environment are examined in this book and categorized as follows: motion planning, deterministic decision making, decision making under uncertainty and finally multi-robot planning. A variety of techniques are presented in this book, and a number of relevant case studies are examined. The topics considered in this book are multidisciplinary in nature and lie at the intersection of Robotics, Control Theory, Operational Research and Artificial Intelligence.

Making a robot that looks and behaves like a human being has been the subject of many popular science fiction movies and books. Although the development of such a robot facesmanychallenges,themakingofavirtualhumanhaslongbeenpotentiallypossible. With recent advances in various key technologies related to hardware and software, the making of humanlike robots is increasingly becoming an engineering reality. Development of the required hardware that can perform humanlike functions in a lifelike manner has benefitted greatly from development in such technologies as biologically inspired materials, artificial intelligence, artificial vision, and many others. Producing a humanlike robot that makes body and facial expressions, communicates verbally using extensive vocabulary, and interprets speech with high accuracy is ext- mely complicated to engineer. Advances in voice recognition and speech synthesis are increasingly improving communication capabilities. In our daily life we encounter such innovations when we call the telephone operators of most companies today. As robotics technology continues to improve we are approaching the point where, on seeing such a robot, we will respond with ‘‘Wow, this robot looks unbelievably real!’’ just like the reaction to an artificial flower. The accelerating pace of advances in related fields suggests that the emergence of humanlike robots that become part of our daily life seems to be imminent. These robots are expected to raise ethical concerns and may also raise many complex questions related to their interaction with humans.
The last two decades have witnessed considerable progress in the study of underactuated robotic systems (URSs). Control Design and Analysis for Underactuated Robotic Systems presents a unified treatment of control design and analysis for a class of URSs, which include systems with multiple-degree-of-freedom and/or with underactuation degree two. It presents novel notions, features, design techniques and strictly global motion analysis results for these systems. These new materials are shown to be vital in studying the control design and stability analysis of URSs.

Control Design and Analysis for Underactuated Robotic Systems includes the modelling, control design and analysis presented in a systematic way particularly for the following examples:

l directly and remotely driven Acrobots

l Pendubot

l rotational pendulum

l counter-weighted Acrobot

2-link underactuated robot with flexible elbow joint

l variable-length pendulum

l 3-link gymnastic robot with passive first joint

l n-link planar robot with passive first joint

l n-link planar robot with passive single joint

double, or two parallel pendulums on a cart

l 3-link planar robots with underactuation degree two

2-link free flying robot

The theoretical developments are validated by experimental results for the remotely driven Acrobot and the rotational pendulum.

Control Design and Analysis for Underactuated Robotic Systems is intended for advanced undergraduate and graduate students and researchers in the area of control systems, mechanical and robotics systems, nonlinear systems and oscillation. This text will not only enable the reader to gain a better understanding of the power and fundamental limitations of linear and nonlinear control theory for the control design and analysis for these URSs, but also inspire the reader to address the challenges of more complex URSs.

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