•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.
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.
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.
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 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.
By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry.Addresses important topics related to time-critical cooperative control of UAVsDescribes solutions to the problems rooted in solid dynamical systems theoryApplies the solutions developed to fixed-wing and multirotor UAVsIncludes the results of field tests with both classes of UAVs
Constructive algorithms are provided for finding solutions to:
• general singular H-infinity control problems;
• general H-infinity almost disturbance decoupling problems;
• robust and perfect tracking problems.
The theory presented in the earlier chapters of the text are also subsequently applied to real-life problems with actual implementations: gyro-stabilized mirror targeting; hard-disk-drive servo control and control of a piezoelectric actuator.
Robust and H-infinity Control can be used for graduate courses in robust control and as a reference for academic researchers; the reader should have completed first-year graduate courses in linear systems and multivariable control. It will also be of great value to engineers practising in the process, electronics and aerospace industries.