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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

1 Citation (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.

Original language	English
Title of host publication	ANZCC 2018 - 2018 Australian and New Zealand Control Conference
Number of pages	6
Publisher	IEEE
Publication date	10 Jan 2019
Pages	56-61
Article number	8606617
ISBN (Print)	978-1-5386-6618-0
ISBN (Electronic)	978-1-5386-6617-3
DOIs	https://doi.org/10.1109/ANZCC.2018.8606617
Publication status	Published - 10 Jan 2019
Event	2018 Australian and New Zealand Control Conference, ANZCC 2018 - Melbourne, Australia Duration: 7 Dec 2018 → 8 Dec 2018

Conference

Conference	2018 Australian and New Zealand Control Conference, ANZCC 2018
Country/Territory	Australia
City	Melbourne
Period	07/12/2018 → 08/12/2018
Sponsor	China Jiliang University, Griffith University, Royal Melbourne Institute of Technology University, Shanghai University, Swinburne University of Technology

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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,

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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. in ANZCC 2018 - 2018 Australian and New Zealand Control Conference., 8606617, IEEE, pp. 56-61, 2018 Australian and New Zealand Control Conference, ANZCC 2018, Melbourne, Australia, 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. p. 56-61 8606617.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

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

AU - Van Den Meijdenberg, J. W.A.

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AU - Schioler, Henrik

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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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DO - 10.1109/ANZCC.2018.8606617

M3 - Article in proceeding

AN - SCOPUS:85062417090

SN - 978-1-5386-6618-0

SP - 56

EP - 61

BT - ANZCC 2018 - 2018 Australian and New Zealand Control Conference

PB - IEEE

T2 - 2018 Australian and New Zealand Control Conference, ANZCC 2018

Y2 - 7 December 2018 through 8 December 2018

ER -

Stochastic controller design for multi-rotor UAV under intermittent localization

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