LEADER 00906nam0 2200265 450 001 000020177 005 20070709103322.0 010 $a2-7073-1030-1 100 $a20070614d1985----km-y0itaa50------ba 101 0 $afre 102 $aFR 200 1 $aQuai ouest$fBernard-Marie Koltès 210 $aParigi$c<> editions de Minuit$dc1985 215 $a107 p.$d19 cm. 676 $a842.914$v(21. ed.)$9Letteratura drammatica francese. 1945-1999 700 1$aKoltès,$bBernard Marie$0757274 801 0$aIT$bUniversità della Basilicata - B.I.A.$gRICA$2unimarc 912 $a000020177 996 $aQuai ouest$91527614 997 $aUNIBAS BAS $aLETTERE CAT $aSTD056$b01$c20070614$lBAS01$h1134 CAT $aMDL$b30$c20070709$lBAS01$h1033 FMT Z30 -1$lBAS01$LBAS01$mBOOK$1BASA1$APolo Storico-Umanistico$2DID$BDidattica$3FP/105811$6105811$5L105811$820070614$f04$FPrestabile Didattica LEADER 05661nam 2200757 a 450 001 9911020004403321 005 20200520144314.0 010 $a9781118599860 010 $a1118599861 010 $a9781118599938 010 $a1118599934 010 $a9781118599976 010 $a1118599977 010 $a9781299187320 010 $a1299187323 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(OCoLC)876268765 035 $a(OCoLC)ocn876268765 035 $a(Perlego)1006113 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 $eembedded control /$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 $a"Adapted from Objets volants miniatures : modelisation et commande embarquee published 2007." 311 08$a9781848211278 311 08$a1848211279 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 $a629.132/6 701 $aLozano$b R$g(Rogelio),$f1954-$0727156 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9911020004403321 996 $aUnmanned aerial vehicles$94417990 997 $aUNINA