Modeling And Control Of Multi Rotor Uavs
Download Modeling And Control Of Multi Rotor Uavs PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Modeling And Control Of Multi Rotor Uavs book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages.
Modeling and Control of Multi-Rotor UAVS
Recently, a class of unmanned aerial vehicles (UAVs) called multi-rotors has gained significant attention. Despite remarkable progress in control and design of multirotors in the past decade, two issues, namely endurance and safety, still remain of main concerns. This thesis mainly aims at investigating about modeling and control of multi-rotor UAVs while focusing on safety, performance and optimal design. A complete model for forces and moments of a propeller in presence of freestream is presented which helps to derive mathematical models for two different types of multi-rotor UAVs: i) quadcopters with angled thrust vector; and ii) spinning multirotors with streamline-shape fuselage. Afterwards, equilibrium states and the constraints for both types of vehicles are introduced and using control design techniques, we develop ight control strategies to control attitude and position of the vehicle. The following control strategies are developed for: i) quadcopters with no rotor failures; ii) quadcopters with one rotor failure; and iii) spinning multi-rotors. Also, the performance of the proposed multi-rotor UAVs is investigated in three different topics: i) optimality of the hover solutions in terms of power consumption; ii) stability of the vehicle in different configurations; and iii) controller performance in trajectory tracking. First, this section leads to introducing six different configurations for quadcopters ranking from the most stable to the most maneuverable which are presented analytically for the first time. Second, a specific configuration for a quadcopter is introduced that leads to the minimum power consumption during a yaw-rate-resolved hovering after a rotor failure. Third, we present optimal design for spinning multi-rotors featuring minimum power consumption and best trajectory tracking performance. Furthermore, a framework for controlled emergency landing of a quadcopter, with a rotor failure and away from sensitive areas, is presented. Given a 3D representation of the environment, an optimal flight path towards a safe crash landing spot, while avoiding obstacles, is developed using RRT* algorithm. The cost function for determining the best landing spot consists of: (i) clearance from the obstacles; and (ii) distance from the landing spot. Finally, the framework is tested via nonlinear simulations and results are presented.
Introduction to Multicopter Design and Control
This book is the first textbook specially on multicopter systems in the world. It provides a comprehensive overview of multicopter systems, rather than focusing on a single method or technique. The fifteen chapters are divided into five parts, covering the topics of multicopter design, modeling, state estimation, control, and decision-making. It differs from other books in the field in three major respects: it is basic and practical, offering self-contained content and presenting hands-on methods; it is comprehensive and systematic; and it is timely. It is also closely related to the autopilot that users often employ today and provides insights into the code employed. As such, it offers a valuable resource for anyone interested in multicopters, including students, teachers, researchers, and engineers. This introductory text is a welcome addition to the literature on multicopter design and control, on which the author is an acknowledged authority. The book is directed to advanced undergraduate and beginning graduate students in aeronautical and control (or electrical) engineering, as well as to multicopter designers and hobbyists. ------- Professor W. Murray Wonham, University of Toronto "This is the single best introduction to multicopter control. Clear, comprehensive and progressing from basic principles to advanced techniques, it's a must read for anyone hoping to learn how to design flying robots." ------- Chris Anderson, 3D Robotics CEO.
Basic Helicopter Aerodynamics
Basic Helicopter Aerodynamics is widely appreciated as an easily accessible, rounded introduction to the first principles of the aerodynamics of helicopter flight. Simon Newman has brought this third edition completely up to date with a full new set of illustrations and imagery. An accompanying website www.wiley.com/go/seddon contains all the calculation files used in the book, problems, solutions, PPT slides and supporting MATLAB® code. Simon Newman addresses the unique considerations applicable to rotor UAVs and MAVs, and coverage of blade dynamics is expanded to include both flapping, lagging and ground resonance. New material is included on blade tip design, flow characteristics surrounding the rotor in forward flight, tail rotors, brown-out, blade sailing and shipborne operations. Concentrating on the well-known Sikorsky configuration of single main rotor with tail rotor, early chapters deal with the aerodynamics of the rotor in hover, vertical flight, forward flight and climb. Analysis of these motions is developed to the stage of obtaining the principal results for thrust, power and associated quantities. Later chapters turn to the characteristics of the overall helicopter, its performance, stability and control, and the important field of aerodynamic research is discussed, with some reference also to aerodynamic design practice. This introductory level treatment to the aerodynamics of helicopter flight will appeal to aircraft design engineers and undergraduate and graduate students in aircraft design, as well as practising engineers looking for an introduction to or refresher course on the subject.