Stochastic controller design for multi-rotor UAV under intermittent localization

J. W.A. Van Den Meijdenberg; Luminita Totu; Henrik Schioler; John Leth

doi:10.1109/ANZCC.2018.8606617

Stochastic controller design for multi-rotor UAV under intermittent localization

J. W.A. Van Den Meijdenberg, Luminita Totu, Henrik Schioler, John Leth

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

1 Citationer (Scopus)

Abstract

This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.

Originalsprog	Engelsk
Titel	ANZCC 2018 - 2018 Australian and New Zealand Control Conference
Antal sider	6
Forlag	IEEE
Publikationsdato	10 jan. 2019
Sider	56-61
Artikelnummer	8606617
ISBN (Trykt)	978-1-5386-6618-0
ISBN (Elektronisk)	978-1-5386-6617-3
DOI	https://doi.org/10.1109/ANZCC.2018.8606617
Status	Udgivet - 10 jan. 2019
Begivenhed	2018 Australian and New Zealand Control Conference, ANZCC 2018 - Melbourne, Australien Varighed: 7 dec. 2018 → 8 dec. 2018

Konference

Konference	2018 Australian and New Zealand Control Conference, ANZCC 2018
Land/Område	Australien
By	Melbourne
Periode	07/12/2018 → 08/12/2018
Sponsor	China Jiliang University, Griffith University, Royal Melbourne Institute of Technology University, Shanghai University, Swinburne University of Technology

Bibliografisk note

Funding Information:
*The UAWORLD project is partly funded by Innovation Fund Denmark

Publisher Copyright:
© 2018 IEEE.

Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.

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Citationsformater

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title = "Stochastic controller design for multi-rotor UAV under intermittent localization",

abstract = "This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.",

author = "{Van Den Meijdenberg}, {J. W.A.} and Luminita Totu and Henrik Schioler and John Leth",

note = "Funding Information: *The UAWORLD project is partly funded by Innovation Fund Denmark Publisher Copyright: {\textcopyright} 2018 IEEE. Copyright: Copyright 2019 Elsevier B.V., All rights reserved.; 2018 Australian and New Zealand Control Conference, ANZCC 2018 ; Conference date: 07-12-2018 Through 08-12-2018",

year = "2019",

month = jan,

day = "10",

doi = "10.1109/ANZCC.2018.8606617",

language = "English",

isbn = "978-1-5386-6618-0",

pages = "56--61",

booktitle = "ANZCC 2018 - 2018 Australian and New Zealand Control Conference",

publisher = "IEEE",

address = "United States",

}

Van Den Meijdenberg, JWA, Totu, L, Schioler, H & Leth, J 2019, Stochastic controller design for multi-rotor UAV under intermittent localization. i ANZCC 2018 - 2018 Australian and New Zealand Control Conference., 8606617, IEEE, s. 56-61, 2018 Australian and New Zealand Control Conference, ANZCC 2018, Melbourne, Australien, 07/12/2018. https://doi.org/10.1109/ANZCC.2018.8606617

Stochastic controller design for multi-rotor UAV under intermittent localization. / Van Den Meijdenberg, J. W.A.; Totu, Luminita; Schioler, Henrik et al.
ANZCC 2018 - 2018 Australian and New Zealand Control Conference. IEEE, 2019. s. 56-61 8606617.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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T1 - Stochastic controller design for multi-rotor UAV under intermittent localization

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N2 - This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.

AB - This paper presents a controller design for Unmanned Aerial Vehicles (UAV) of multi-rotor type, where global positioning is only intermittently available. The developed controllers are of state-space/observer type with switching, where discrete modes are determined by the momentary availability of absolute geographical localization. Control design is based on a generalized concept of stochastic ϵ-moment stability and conducted towards optimal robustness towards measurement intermittency. A simplistic but frequently applied mechanical model of the UAV under control, as well as the onboard inertial measurement unit (IMU), is presented and used as a basis for the proposed design methodology. Test flight results are presented with artificial measurement intermittency demonstrating the robustness of the designed controller.

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M3 - Article in proceeding

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SN - 978-1-5386-6618-0

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Stochastic controller design for multi-rotor UAV under intermittent localization

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