LEADER 05512nam 2200685 a 450 001 9910841226103321 005 20170815103054.0 010 $a1-118-59986-1 010 $a1-118-59993-4 010 $a1-118-59997-7 010 $a1-299-18732-3 035 $a(CKB)2550000001005877 035 $a(EBL)1124318 035 $a(SSID)ssj0000834363 035 $a(PQKBManifestationID)11462226 035 $a(PQKBTitleCode)TC0000834363 035 $a(PQKBWorkID)10980653 035 $a(PQKB)10304807 035 $a(MiAaPQ)EBC1124318 035 $a(OCoLC)828298971 035 $a(CaSebORM)9781118599860 035 $a(PPN)250184621 035 $a(EXLCZ)992550000001005877 100 $a20100310d2010 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 00$aUnmanned aerial vehicles$b[electronic resource] $eembedded control /$fedited by Rogelio Lozano 205 $a1st edition 210 $aLondon $cISTE ;$aHoboken, N.J. $cWiley$dc2010 215 $a1 online resource (346 p.) 225 1 $aISTE 300 $a"Adapted from Objets volants miniatures : modelisation et commande embarquee published 2007." 311 $a1-84821-127-9 320 $aIncludes bibliographical references and index. 327 $aCover; Unmanned Aerial Vehicles; Title Page; Copyright Page; Table of Contents; Chapter 1. Aerodynamic Configurations and Dynamic Models; 1.1. Aerodynamic configurations; 1.2. Dynamic models; 1.2.1. Newton-Euler approach; 1.2.2. Euler-Lagrange approach; 1.2.3. Quaternion approach; 1.2.4. Example: dynamic model of a quad-rotor rotorcraft; 1.3. Bibliography; Chapter 2. Nested Saturation Control for Stabilizing the PVTOL Aircraft; 2.1. Introduction; 2.2. Bibliographical study; 2.3. The PVTOL aircraft model; 2.4. Control strategy; 2.4.1. Control of the vertical displacement y 327 $a2.4.2. Control of the roll angle ? and the horizontal displacement x2.4.2.1. Boundedness of ?; 2.4.2.2. Boundedness of ?; 2.4.2.3. Boundedness of x; 2.4.2.4. Boundedness of x; 2.4.2.5. Convergence of ?, ?, x and x to zero; 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; 3.1. Introduction; 3.2. Dynamic model; 3.2.1. Kinematics; 3.2.2. Dynamics; 3.2.2.1. Forces acting onthe vehicle; 3.2.2.2. Torques acting on the vehicle 327 $a3.2.3. Model for control analysis3.3. Control strategy; 3.3.1. Altitude control; 3.3.2. Horizontal motion control; 3.3.3. Attitude control; 3.4. Experimental setup; 3.4.1. Onboard flight system (OFS); 3.4.2. Outboard visual system; 3.4.2.1. Position; 3.4.2.2. Optical flow; 3.4.3. Experimental results; 3.5. Concluding remarks; 3.6. Bibliography; Chapter 4. Autonomous Hovering of a Two-Rotor UAV; 4.1. Introduction; 4.2. Two-rotor UAV; 4.2.1. Description; 4.2.2. Dynamic model; 4.2.2.1. Translational motion; 4.2.2.2. Rotational motion; 4.2.2.3. Reduced model; 4.3. Control algorithm design 327 $a4.4. Experimental platform4.4.1. Real-time PC-control system (PCCS); 4.4.1.1. Sensors and communication hardware; 4.4.2. Experimental results; 4.5. Conclusion; 4.6. Bibliography; Chapter 5. Modeling and Control of a Convertible Plane UAV; 5.1. Introduction; 5.2. Convertible plane UAV; 5.2.1. Vertical mode; 5.2.2. Transition maneuver; 5.2.3. Horizontal mode; 5.3. Mathematical model; 5.3.1. Translation of the vehicle; 5.3.2. Orientation of the vehicle; 5.3.2.1. Euler angles; 5.3.2.2. Aerodynamic axes; 5.3.2.3. Torques; 5.3.3. Equations of motion; 5.4. Controller design; 5.4.1. Hover control 327 $a5.4.1.1. Axial system5.4.1.2. Longitudinal system; 5.4.1.3. Lateral system; 5.4.1.4. Simulation and experimental results; 5.4.2. Transition maneuver control; 5.4.3. Horizontal flight control; 5.5. Embedded system; 5.5.1. Experimental platform; 5.5.2. Microcontroller; 5.5.3. Inertial measurement unit (IMU); 5.5.4. Sensor fusion; 5.6. Conclusions and future works; 5.6.1. Conclusions; 5.6.2. Future works; 5.7. Bibliography; Chapter 6. Control of Different UAVs with Tilting Rotors; 6.1. Introduction; 6.2. Dynamic model of a flying VTOL vehicle; 6.2.1. Kinematics; 6.2.2. Dynamics 327 $a6.3. Attitude control of a flying VTOL vehicle 330 $aThis book presents the basic tools required to obtain the dynamical models for aerial vehicles (in the Newtonian or Lagrangian approach). Several control laws are presented for mini-helicopters, quadrotors, mini-blimps, flapping-wing aerial vehicles, planes, etc. Finally, this book has two chapters devoted to embedded control systems and Kalman filters applied for aerial vehicles control and navigation. This book presents the state of the art in the area of UAVs. The aerodynamical models of different configurations are presented in detail as well as the control strategies which are validated i 410 0$aISTE 606 $aDrone aircraft$xAutomatic control 606 $aEmbedded computer systems 615 0$aDrone aircraft$xAutomatic control. 615 0$aEmbedded computer systems. 676 $a629.132/6 676 $a629.1326 700 $aLozano$b Rogelio$0727156 701 $aLozano$b R$g(Rogelio),$f1954-$0727156 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910841226103321 996 $aUnmanned aerial vehicles$94143373 997 $aUNINA