滿額折
Unmanned Aerial Vehicles Embedded Control
商品資訊
ISBN13：9781848211278
出版社：John Wiley & Sons Inc
作者：Lozano
出版日：2010/03/22
裝訂／頁數：精裝／352頁
規格：24.1cm*16.5cm*2.5cm (高/寬/厚)
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90 折 6530 元
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商品簡介
作者簡介
目次
商品簡介
The development of unmanned aerial vehicles has been a critical field of interest for many scientists, engineers and researchers in recent years. Their main objective in this context is to design aerial devices that are able to complete surveillance missions in the most autonomous way possible. This requires them to have the ability to complete stable and solid disturbance-free hovering or horizontal flights.
In this book, the authors present tools needed to create dynamic models for several types of aerial vehicles such as helicopters, airplanes, airships, flying objects and quadrotors. They also address nonlinear control strategies for each aerodynamic configuration as well as the use of cameras for locating and stabilizing the flying object. The approach presented discusses theoretical as well as practical aspects.
The book presents several prototypes for experimental validation of the aerodynamic configurations and algorithms that are included in the text; the computer architectures and sensors used are also explained in detail.
In this book, the authors present tools needed to create dynamic models for several types of aerial vehicles such as helicopters, airplanes, airships, flying objects and quadrotors. They also address nonlinear control strategies for each aerodynamic configuration as well as the use of cameras for locating and stabilizing the flying object. The approach presented discusses theoretical as well as practical aspects.
The book presents several prototypes for experimental validation of the aerodynamic configurations and algorithms that are included in the text; the computer architectures and sensors used are also explained in detail.
作者簡介
Rogelio Lozano is Research Director at CNRS in France.
目次
Chapter 1 Aerodynamic Configurations and Dynamic Models (Alejandro Dzul).
1.1 Aerodynamic configurations.
1.2 Dynamic models.
1.3 Bibliography.
Chapter 2 Nested Saturation Control for Stabilizing the PVTOL Aircraft (Amparo Palomino).
2.1 Introduction.
2.2 Bibliographical study.
2.3 The PVTOL aircraft model.
2.4 Control strategy.
2.5 Other control strategies for the stabilization of the PVTOL aircraft.
2.6 Experimental results.
2.7 Conclusions.
2.8 Bibliography.
Chapter 3 Two-Rotor VTOL Mini UAV: Design, Modeling and Control (Eduardo Rondon).
3.1 Introduction.
3.2 Dynamic model.
3.3 Control strategy.
3.4 Experimental setup.
3.5 Concluding remarks.
3.6 Bibliography.
Chapter 4 Autonomous Hovering of a Two-Rotor UAV (Octavio Garcia).
4.1 Introduction.
4.2 Two-rotor UAV.
4.3 Control algorithm design.
4.4 Experimental platform.
4.5 Conclusion.
4.6 Bibliography.
Chapter 5 Modeling and Control of a Convertible Plane UAV (Victor Rosas).
5.1 Introduction.
5.2 Convertible plane UAV.
5.3 Mathematical model.
5.4 Controller design.
5.5 Embedded system.
5.6 Conclusions and future works.
5.7 Bibliography.
Chapter 6 Control of Different UAVs with Tilting Rotors (Octavio Garcia).
6.1 Introduction.
6.2 Dynamic model of a flying VTOL vehicle.
6.3 Attitude control of a flying VTOL vehicle.
6.4 Triple tilting rotor rotorcraft: Delta.
6.5 Single tilting rotor rotorcraft: T-Plane.
6.6 Concluding remarks.
6.7 Bibliography.
Chapter 7 Improving Attitude Stabilization of a Quad-Rotor Using Motor Current Feedback (Octavio Garcia).
7.1 Introduction.
7.2 Brushless DC motor and speed controller.
7.3 Quad-rotor.
7.4 Control strategy.
7.5 System configuration.
7.6 Experimental results.
7.7 Concluding remarks.
7.8 Bibliography.
Chapter 8 Robust Control Design Techniques Applied to Mini-Rotorcraft UAV: Simulation and Experimental Results (Efrain Alcorta).
8.1 Introduction.
8.2 Dynamic model.
8.3 Problem statement.
8.4 Robust control design.
8.5 Simulation and experimental results.
8.6 Conclusions.
8.7 Bibliography.
Chapter 9 Hover Stabilization of a Quad-Rotor Using a Single Camera (Sergio Salazar).
9.1 Introduction.
9.2 Visual servoing.
9.3 Camera calibration.
9.4 Pose estimation.
9.5 Dynamic model and control strategy.
9.6 Platform architecture.
9.7 Experimental results.
9.8 Discussion and conclusions.
9.9 Bibliography.
Chapter 10 Vision-Based Position Control of a Two-Rotor VTOL Mini UAV (Rogelio Lozano).
10.1 Introduction.
10.2 Position and velocity estimation.
10.3 Dynamic model.
10.4 Control strategy.
10.5 Experimental testbed and results.
10.6 Concluding remarks.
10.7 Bibliography.
Chapter 11 Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles (Kenzo Nonami).
11.1 Introduction.
11.2 Related work and the proposed 3NKF framework.
11.3 Prediction-based algorithm with adaptive patch for accurate and efficient optic flow calculation.
11.4 Optic flow interpretation for UAV 3D motion estimation and obstacles detection (SFM problem).
11.5 Aerial platform description and real-time implementation.
11.6 3D flight tests and experimental results.
11.7 Conclusion and future work.
11.8 Bibliography.
Chapter 12 Real-Time Stabilization of an Eight-Rotor UAV Using Stereo Vision and Optical Flow (Jose Gomez).
12.1 Stereo vision.
12.2 3D reconstruction.
12.3 Keypoints matching algorithm.
12.4 Optical flow-based control.
12.5 Eight-rotor UAV.
12.6 System concept.
12.7 Real-time experiments.
12.8 Bibliography.
Chapter 13 Three-Dimensional Localization (Alejandro Dzul).
13.1 Kalman filters.
13.2 Robot localization.
13.3 Simulations.
13.4 Bibliography.
Chapter 14 Updated Flight Plan for an Autonomous Aircraft in a Windy Environment (Fouzia Lakhlef).
14.1 Introduction.
14.2 Modeling.
14.3 Updated flight planning.
14.4 Updates of the reference trajectories: time optimal problem.
14.5 Analysis of the first set of solutions S1.
14.6 Conclusions.
14.7 Bibliography.
List of Authors.
Index.
1.1 Aerodynamic configurations.
1.2 Dynamic models.
1.3 Bibliography.
Chapter 2 Nested Saturation Control for Stabilizing the PVTOL Aircraft (Amparo Palomino).
2.1 Introduction.
2.2 Bibliographical study.
2.3 The PVTOL aircraft model.
2.4 Control strategy.
2.5 Other control strategies for the stabilization of the PVTOL aircraft.
2.6 Experimental results.
2.7 Conclusions.
2.8 Bibliography.
Chapter 3 Two-Rotor VTOL Mini UAV: Design, Modeling and Control (Eduardo Rondon).
3.1 Introduction.
3.2 Dynamic model.
3.3 Control strategy.
3.4 Experimental setup.
3.5 Concluding remarks.
3.6 Bibliography.
Chapter 4 Autonomous Hovering of a Two-Rotor UAV (Octavio Garcia).
4.1 Introduction.
4.2 Two-rotor UAV.
4.3 Control algorithm design.
4.4 Experimental platform.
4.5 Conclusion.
4.6 Bibliography.
Chapter 5 Modeling and Control of a Convertible Plane UAV (Victor Rosas).
5.1 Introduction.
5.2 Convertible plane UAV.
5.3 Mathematical model.
5.4 Controller design.
5.5 Embedded system.
5.6 Conclusions and future works.
5.7 Bibliography.
Chapter 6 Control of Different UAVs with Tilting Rotors (Octavio Garcia).
6.1 Introduction.
6.2 Dynamic model of a flying VTOL vehicle.
6.3 Attitude control of a flying VTOL vehicle.
6.4 Triple tilting rotor rotorcraft: Delta.
6.5 Single tilting rotor rotorcraft: T-Plane.
6.6 Concluding remarks.
6.7 Bibliography.
Chapter 7 Improving Attitude Stabilization of a Quad-Rotor Using Motor Current Feedback (Octavio Garcia).
7.1 Introduction.
7.2 Brushless DC motor and speed controller.
7.3 Quad-rotor.
7.4 Control strategy.
7.5 System configuration.
7.6 Experimental results.
7.7 Concluding remarks.
7.8 Bibliography.
Chapter 8 Robust Control Design Techniques Applied to Mini-Rotorcraft UAV: Simulation and Experimental Results (Efrain Alcorta).
8.1 Introduction.
8.2 Dynamic model.
8.3 Problem statement.
8.4 Robust control design.
8.5 Simulation and experimental results.
8.6 Conclusions.
8.7 Bibliography.
Chapter 9 Hover Stabilization of a Quad-Rotor Using a Single Camera (Sergio Salazar).
9.1 Introduction.
9.2 Visual servoing.
9.3 Camera calibration.
9.4 Pose estimation.
9.5 Dynamic model and control strategy.
9.6 Platform architecture.
9.7 Experimental results.
9.8 Discussion and conclusions.
9.9 Bibliography.
Chapter 10 Vision-Based Position Control of a Two-Rotor VTOL Mini UAV (Rogelio Lozano).
10.1 Introduction.
10.2 Position and velocity estimation.
10.3 Dynamic model.
10.4 Control strategy.
10.5 Experimental testbed and results.
10.6 Concluding remarks.
10.7 Bibliography.
Chapter 11 Optic Flow-Based Vision System for Autonomous 3D Localization and Control of Small Aerial Vehicles (Kenzo Nonami).
11.1 Introduction.
11.2 Related work and the proposed 3NKF framework.
11.3 Prediction-based algorithm with adaptive patch for accurate and efficient optic flow calculation.
11.4 Optic flow interpretation for UAV 3D motion estimation and obstacles detection (SFM problem).
11.5 Aerial platform description and real-time implementation.
11.6 3D flight tests and experimental results.
11.7 Conclusion and future work.
11.8 Bibliography.
Chapter 12 Real-Time Stabilization of an Eight-Rotor UAV Using Stereo Vision and Optical Flow (Jose Gomez).
12.1 Stereo vision.
12.2 3D reconstruction.
12.3 Keypoints matching algorithm.
12.4 Optical flow-based control.
12.5 Eight-rotor UAV.
12.6 System concept.
12.7 Real-time experiments.
12.8 Bibliography.
Chapter 13 Three-Dimensional Localization (Alejandro Dzul).
13.1 Kalman filters.
13.2 Robot localization.
13.3 Simulations.
13.4 Bibliography.
Chapter 14 Updated Flight Plan for an Autonomous Aircraft in a Windy Environment (Fouzia Lakhlef).
14.1 Introduction.
14.2 Modeling.
14.3 Updated flight planning.
14.4 Updates of the reference trajectories: time optimal problem.
14.5 Analysis of the first set of solutions S1.
14.6 Conclusions.
14.7 Bibliography.
List of Authors.
Index.
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