Comparison of Controllers for a UAV with Integral Effect and Kalman Estimator: By Bessel Polynomials and LQR

2013 ◽  
Vol 436 ◽  
pp. 54-60 ◽  
Author(s):  
Wenceslao Eduardo Rodríguez ◽  
Ramiro Ibarra ◽  
Gerardo Romero ◽  
David Lara ◽  
Jaime Arredondo ◽  
...  
Keyword(s):  
Steady State ◽  
Pole Placement ◽  
Control Technique ◽  
State Estimator ◽  
Control Laws ◽  
State Response ◽  
Integral Effect ◽  
Aerial Vehicle ◽  
Pole Placement Controller ◽  
Selection Of

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle. A problem that arises when performing pole placement controller is the selection of the poles, the Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator (observer). On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.These two control laws has the property of responding to a desired response according to a time or state response desired.

Comparison of Controllers for a UAV Type Quadrotor: Feedback Control by Bessel´s Polynomials and LQR with Kalman Filter

2014 ◽  
Vol 555 ◽  
pp. 40-48 ◽  
Author(s):  
Wenceslao Eduardo Rodríguez ◽  
Ramiro Ibarra ◽  
Gerardo Romero ◽  
David Lara
Keyword(s):  
Kalman Filter ◽  
Steady State ◽  
Pole Placement ◽  
Control Technique ◽  
State Estimator ◽  
Integral Effect ◽  
Aerial Vehicle ◽  
Pole Placement Controller ◽  
Selection Of ◽  
State Error

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle of four rotor model. The Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator. On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.

scholarly journals Comparison of a Triple Inverted Pendulum Stabilization Using Optimal Control Technique

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Eliyas Alemayehu Tadese
Keyword(s):  
Optimal Control ◽  
Impulse Response ◽  
Inverted Pendulum ◽  
Control Method ◽  
Pole Placement ◽  
Control Technique ◽  
Comparison Results ◽  
Highly Nonlinear ◽  
Pole Placement Controller ◽  
Triple Inverted Pendulum

In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system. In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside. The impulse response simulation of the open loop system shows us that the pendulum is unstable. The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller. Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.

DATA ASSOCIATION OF RF-VSLAM FOR OCEAN OBSERVATION USING BLIMP

2015 ◽  
Vol 74 (9) ◽  
Author(s):  
Herdawatie Abdul Kadir ◽  
M. R. Arshad
Keyword(s):  
Data Association ◽  
Observation System ◽  
Features Selection ◽  
State Estimator ◽  
Dynamic Changes ◽  
Localization And Mapping ◽  
Aerial Vehicle ◽  
Ocean Gyres ◽  
Correct Association ◽  
Selection Of

This paper describes a selection of features for potential landmarks for ocean observation system using radio frequency visual simultaneous localization and mapping (RF-VSLAM) framework. Due to dynamic changes of the ocean surface caused by the ocean gyres, the features selection is difficult. Therefore, the tendency for vehicles to drift is high. As a solution, we introduced the beacons as an anchor node as an aid to correct the navigation and improve data association. We investigated the data association stage of the RF-VSLAM system which improved the state estimator for the aerial vehicle. The goal is to produce a correct association to the landmarks, since wrong data association will produce inaccurate maps. The points features were extracted from a monocular camera using SIFT as detector and descriptor. The experimental data of the dynamic changes of water surface has been evaluated. The result showed that the data association method was able to produce correct and accurate landmarks selection.  

Selection of one-dimensional sedimentation: models for on-line use

1995 ◽  
Vol 31 (2) ◽  
pp. 193-204 ◽  
Author(s):  
Koen Grijspeerdt ◽  
Peter Vanrolleghem ◽  
Willy Verstraete
Keyword(s):  
Steady State ◽  
Selection Criteria ◽  
Data Sets ◽  
Concentration Profiles ◽  
A Posteriori ◽  
One Dimensional ◽  
On Line ◽  
Dynamic Concentration ◽  
Selection Of ◽  
Modelling Task

A comparative study of several recently proposed one-dimensional sedimentation models has been made. This has been achieved by fitting these models to steady-state and dynamic concentration profiles obtained in a down-scaled secondary decanter. The models were evaluated with several a posteriori model selection criteria. Since the purpose of the modelling task is to do on-line simulations, the calculation time was used as one of the selection criteria. Finally, the practical identifiability of the models for the available data sets was also investigated. It could be concluded that the model of Takács et al. (1991) gave the most reliable results.

The Auditory Steady-State Response: Full-Term and Premature Neonates

2002 ◽  
Vol 13 (05) ◽  
pp. 260-269 ◽  
Author(s):  
Barbara Cone-Wesson ◽  
John Parker ◽  
Nina Swiderski ◽  
Field Rickards
Keyword(s):  
Steady State ◽  
Premature Infants ◽  
Modulation Frequency ◽  
Otoacoustic Emission ◽  
Full Term ◽  
Steady State Response ◽  
Pass Rates ◽  
Term Infants ◽  
State Response ◽  
Auditory Steady State Response

Two studies were aimed at developing the auditory steady-state response (ASSR) for universal newborn hearing screening. First, neonates who had passed auditory brainstem response, transient evoked otoacoustic emission, and distortion-product otoacoustic emission tests were also tested with ASSRs using modulated tones that varied in frequency and level. Pass rates were highest (> 90%) for amplitude-modulated tones presented at levels ≥ 69 dB SPL. The effect of modulation frequency on ASSR for 500- and 2000-Hz tones was evaluated in full-term and premature infants in the second study. Full-term infants had higher pass rates for 2000-Hz tones amplitude modulated at 74 to 106 Hz compared with pass rates for a 500-Hz tone modulated at 58 to 90 Hz. Premature infants had lower pass rates than full-term infants for both carrier frequencies. Systematic investigation of ASSR threshold and the effect of modulation frequency in neonates is needed to adapt the technique for screening.

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