اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدCircumnavigation of an Unknown Target Using UAVs with Range and Range Rate Measurements
83
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control input if the UAV is inside the desired orbit. The algorithms differ in that, the first algorithm is smooth and unsaturated while the second algorithm is non-smooth and saturated. By analyzing properties associated with the bearing angle of the UAV relative to the target and through proper design of Lyapunov functions, it is shown that both algorithms produce the desired orbit for an arbitrary initial state. Three examples are provided as a proof of concept.
قيم البحث
اقرأ أيضاً
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle the target
with zero steady-state error for any desired smooth pattern. Moreover, we show its asymptotic exponential convergence under a fixed set of control parameters, which are independent of the initial distance to the target. The effectiveness and advantages of the proposed controller are validated via simulations.
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper proposes a sim
ple and practical method to help designers find the optimal propulsion system according to the given design requirements. First, the modeling methods for four basic components of the propulsion system including propellers, motors, electric speed controls, and batteries are studied respectively. Secondly, the whole optimization design problem is simplified and decoupled into several sub-problems. By solving these sub-problems, the optimal parameters of each component can be obtained respectively. Finally, based on the obtained optimal component parameters, the optimal product of each component can be quickly located and determined from the corresponding database. Experiments and statistical analyses demonstrate the effectiveness of the proposed method.
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the
uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield improved performance, without the expense of conservative gain choice. The performance of the proposed controllers is shown by numerical simulations.
We introduce and solve exactly a class of interacting particle systems in one dimension where particles hop asymmetrically. In its simplest form, namely asymmetric zero range process (AZRP), particles hop on a one dimensional periodic lattice with as
ymmetric hop rates; the rates for both right and left moves depend only on the occupation at the departure site but their functional forms are different. We show that AZRP leads to a factorized steady state (FSS) when its rate-functions satisfy certain constraints. We demonstrate with explicit examples that AZRP exhibits certain interesting features which were not possible in usual zero range process. Firstly, it can undergo a condensation transition depending on how often a particle makes a right move compared to a left one and secondly, the particle current in AZRP can reverse its direction as density is changed. We show that these features are common in other asymmetric models which have FSS, like the asymmetric misanthrope process where rate functions for right and left hops are different, and depend on occupation of both the departure and the arrival site. We also derive sufficient conditions for having cluster-factorized steady states for finite range process with such asymmetric rate functions and discuss possibility of condensation there.
Time-of-flight (TOF) cameras are sensors that can measure the depths of scene-points, by illuminating the scene with a controlled laser or LED source, and then analyzing the reflected light. In this paper, we will first describe the underlying measur
ement principles of time-of-flight cameras, including: (i) pulsed-light cameras, which measure directly the time taken for a light pulse to travel from the device to the object and back again, and (ii) continuous-wave modulated-light cameras, which measure the phase difference between the emitted and received signals, and hence obtain the travel time indirectly. We review the main existing designs, including prototypes as well as commercially available devices. We also review the relevant camera calibration principles, and how they are applied to TOF devices. Finally, we discuss the benefits and challenges of combined TOF and color camera systems.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
