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A Multi Agent System For Adaptive Control Of A Flapping Wing Micro Air Vehicle
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Book Synopsis A Multi-Agent System for Adaptive Control of a Flapping-Wing Micro Air Vehicle by :
Download or read book A Multi-Agent System for Adaptive Control of a Flapping-Wing Micro Air Vehicle written by and published by . This book was released on 2016 with total page 109 pages. Available in PDF, EPUB and Kindle. Book excerpt: Biomimetic flapping-wing vehicles have attracted recent interest because of their numerous potential military and civilian applications. In this dissertation is described the design of a multi-agent adaptive controller for such a vehicle. This controller is responsible for estimating the vehicle pose (position and orientation) and then generating four parameters needed for split-cycle control of wing movements to correct pose errors. These parameters are produced via a subsumption architecture rule base. The control strategy is fault tolerant. Using an online learning process, an agent continuously monitors the vehicle's behavior and initiates diagnostics if the behavior has degraded. This agent can then autonomously adapt the rule base if necessary. Each rule base is constructed using a combination of extrinsic and intrinsic evolution. Details of the vehicle, the multi-agent system architecture, agent task scheduling, rule base design, and vehicle control are provided.
Book Synopsis Evolution and Analysis of Neuromorphic Flapping-wing Flight Controllers by : Sanjay Kumar Boddhu
Download or read book Evolution and Analysis of Neuromorphic Flapping-wing Flight Controllers written by Sanjay Kumar Boddhu and published by . This book was released on 2010 with total page 142 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of insect-sized flapping-wing micro air vehicles is attracting increasing interest. Solution of the problem requires construction of a controller that is physically small, extremely power efficient, and capable. In addition, process variation in the creation of very small wings and armatures as well as the potential for accumulating damage and wear over the course of a vehicle's lifetime suggest that controllers be able to self-adapt to the specific and possibly changing nature of the vehicles in which they are embedded. Previous work with Evolvable Hardware Continuous Time Recurrent Neural Networks (CTRNNs) as applied to adaptive control of walking in legged robots suggests that CTRNNs may provide a suitable control solution for flapping-wing micro air vehicles. However, upon complete analysis, it can be seen that perceived similarities between the two problems are somewhat superficial, and that flapping-wing vehicle control requires its own study. This dissertation constitutes the first attempt to apply evolved CTRNN devices to the control of a feasible flapping-wing micro air vehicle. It is organized as a sequence of control experiments of increasing difficulty and explores the following issues, development of behavior-based analog circuit modules, architectures to combine those modules into multi-functional controllers, low-level circuit analyses to explain how evolved modules operate and interact. Also included are experiments in the creation of physically polymorphic behavior modules that combine multiple flight functions into a monolithic analog device. In addition to providing first-of-its-kind feasibility results, this dissertation develops a new frequency-grouping based analysis method to explain the operation of evolved devices.
Book Synopsis Advances in Guidance, Navigation and Control by : Liang Yan
Download or read book Advances in Guidance, Navigation and Control written by Liang Yan and published by Springer Nature. This book was released on 2023-02-10 with total page 7455 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircrafts. It covers a wide range of topics, including but not limited to, intelligent computing communication and control; new methods of navigation, estimation and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation and control of miniature aircraft; and sensor systems for guidance, navigation and control etc. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Book Synopsis Attitude and Position Control of Flapping-wing Micro Aerial Vehicles by : Ning Che
Download or read book Attitude and Position Control of Flapping-wing Micro Aerial Vehicles written by Ning Che and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Compared with the fixed-wing and rotor aircraft, the flapping-wing micro aerial vehicle is of great interest to many communities because of its high efficiency and flexible maneuverability. However, issues such as the small size of the vehicles, complex dynamics and complicated systems due to uncertainty, nonlinearity, and multi-coupled parameters cause several significant challenges in construction and control. In this thesis, based on Euler angle and unit quaternion representations, the backstepping technique is used to design attitude stabilization controllers and position tracking controllers for a good control performance of a flapping-wing micro aerial vehicle. The attitude control of a apping{wing micro aerial vehicle is achieved by controlling the aerodynamic forces and torques, which are highly nonlinear and time{varying. To control such a complex system, a dynamic model is derived by using the Newton{Euler method. Based on the mathematical model, the backstepping technique is applied with the Lyapunov stability theory for the controller design. Moreover, because a flapping-wing micro aerial vehicle has very exible wings and oscillatory flight characteristics, the adaptive fuzzy control law as well as H1 control strategy are also used to estimate the unknown parameters and attenuate the impact of external disturbances. What is more, due to the problem of the gimbal lock of Euler angles, the unit quaternion representation is used afterwards. As for position control, the forward movement is controlled by the thrust and lift force generated by the wings of flapping-wing micro aerial vehicles. To make the actual position and velocity follow the desired trajectory and velocity, the backstepping scheme is used based on a unit quaternion representation. In order to reduce the complexity of differentiation of the virtual control in the design process, a dynamic surface control method is then used by the idea of a low-pass filter. Matlab simulation results prove the mathematical feasibility and also illustrate that all the proposed controllers have a stable control performance.
Book Synopsis Cooperative Control of Multi-Agent Systems by : Yue Wang
Download or read book Cooperative Control of Multi-Agent Systems written by Yue Wang and published by John Wiley & Sons. This book was released on 2017-05-08 with total page 314 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.
Book Synopsis A Study of Evolvable Hardware Adaptive Oscillators for Augmentation of Flapping-wing Micro Air Vehicle Altitude Control by : Bharath Venugopal Chengappa
Download or read book A Study of Evolvable Hardware Adaptive Oscillators for Augmentation of Flapping-wing Micro Air Vehicle Altitude Control written by Bharath Venugopal Chengappa and published by . This book was released on 2010 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of insect-sized flapping-wing micro air vehicles is fraught with difficulties. Even when adequate control laws are known, limits on computational precision and floating-point processing can render it difficult to field implementations that provide sufficiently accurate and precise vehicle body placement and pose. Augmentation of an existing altitude controller with an Evolvable Adaptive Hardware (EAH) oscillator has been proposed as a means for an on-board altitude controller to correct control precision and accuracy difficulties during normal flight. This thesis examines a range of setting of the internal learning algorithms for the EAH oscillator and provides empirical evidence about which setting are most optimal for the control of a flapping-wing micro air vehicle (FW-MAV) based on the Harvard MicroFly. Implications for future multi-degree of freedom control are also considered.
Book Synopsis Design of an Adaptive Flight Controller for a Bird-like Flapping Wing Aircraft by : Balaji K. Chandrasekaran
Download or read book Design of an Adaptive Flight Controller for a Bird-like Flapping Wing Aircraft written by Balaji K. Chandrasekaran and published by . This book was released on 2017 with total page 117 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the present age of increased demand for unmanned aerial vehicles, flapping wing unmanned aerial vehicle applications have become of interest, primarily because of their ability to fly silently and at lower speeds. This work explores new territory through the development of an adaptive flight controller for a bird-like flapping wing aircraft, using modified strip theory to model the aircraft's aerodynamics and Newtonian equations of motion for the flight dynamics. The aircraft model is validated using existing data from the Slow Hawk Ornithopter. The goal of this thesis is to explore various adaptive flight control architectures, such as Model Reference Adaptive Control and Adaptive Neural Network Inverse Control, leading to an advanced controller to govern the longitudinal flight characteristics of the flapping wing aircraft. An acceptable model of slow hawk ornithopter was developed and modelled in the MATLAB/SIMULINK. The Model Reference Adaptive Controller with Adaptive Bias Corrector was successfully able to adapt to deficiencies in the system with a PI controller and improved the tracking performance compared to no adaptation. It was observed that in case of a B-Matrix failure the Adaptive controller was not able to reduce the error in oscillating magnitude to zero. The same observation was also made for system with a PD controller.
Book Synopsis A Closed Loop Research Platform that Enables Dynamic Control of Wing Gait Patterns in a Vertically Constrained Flapping Wing - Micro Air Vehicle by : Hermanus Van Niekerk Botha
Download or read book A Closed Loop Research Platform that Enables Dynamic Control of Wing Gait Patterns in a Vertically Constrained Flapping Wing - Micro Air Vehicle written by Hermanus Van Niekerk Botha and published by . This book was released on 2016 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: Research in Flapping Wing - Micro Air Vehicles(FW-MAVs) has been growing in recent years. Work ranging from mechanical designs to adaptive control algorithms are being developed in pursuit of mimicking natural flight. FW-MAV technology can be applied in a variety of use cases such a military application and surveillance, studying natural ecological systems, and hobbyist commercialization. Recent work has produced small scale FW-MAVs that are capable of hovering and maneuvering. Researchers control maneuvering in various ways, some of which involve making small adjustments to the core wing motion patterns (wing gaits) which determine how the wings flap. Adaptive control algorithms can be implemented to dynamically change these wing motion patterns to allow one to use gait based modification controllers even after damage to a vehicle or its wings occur. This thesis will create and present a hardware research platform that enables hardware-in-the-loop experimentation with core wing gait adaptation methods.
Book Synopsis Multi-Agent Systems by : Xiang-Gui Guo
Download or read book Multi-Agent Systems written by Xiang-Gui Guo and published by CRC Press. This book was released on 2019-06-25 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: Multi-Agent Systems: Platoon Control and Non-Fragile Quantized Consensus aims to present recent research results in designing platoon control and non-fragile quantized consensus for multi-agent systems. The main feature of this book is that distributed adaptive sliding mode control (SMC) algorithms are proposed to guarantee strong string stability based on modified constant time headway (MCTH) policy. The MCTH policy is used to remove the unrealistic assumption in the most existing literature that initial spacing, velocity and acceleration errors are zero. This monograph investigates the platoon control issue by combining SMC technique with neural network and fuzzy logic system approximation methods.
Book Synopsis Advanced Attitude Control of Satellite by : Bing Xiao
Download or read book Advanced Attitude Control of Satellite written by Bing Xiao and published by Springer Nature. This book was released on with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Modeling, Adaptive Control, and Flight Testing of a Lighter-than-Air Vehicle Validated Using System Identification by : Steve Messinger
Download or read book Modeling, Adaptive Control, and Flight Testing of a Lighter-than-Air Vehicle Validated Using System Identification written by Steve Messinger and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lighter-than-air vehicles (LTAV), or airships, can be useful platforms to test the autonomy and swarming capabilities of collaborative multi-agent systems. Airships have many advantages compared with other unoccupied aerial vehicles such as simplistic construction, longer flight times, and slower dynamics. The complex dynamic effects due to buoyancy forces can create a challenging control problem with varied size, weight, and power considerations. For autonomous operation, a non-linear model of the system is needed to test the controller performance in simulation and explore model-based control techniques. In this work, a LTAV system is used to compete in the Defend the Republic competition -- an autonomous aerial match where two opposing teams of LTAVs are trying to capture and score neutrally buoyant game balls into opposing team's goals in an indoor arena. The first main contribution of this work is to build and design a prototype LTAV that is highly maneuverable and controllable in unknown environments with many disturbances. The system must have enough actuation for a human operator and an autonomous system to capture and score game balls. Designing an autonomous system requires state estimation and a control system. The corresponding hardware to accommodate the processes needed for autonomous operation must be selected and included on the platform. LTAVs present a challenge due to their low weight budget. Hardware selection was carefully selected to best balance weight, maneuverability, and compute power of the vehicle. The second main contribution of this work is to model the vehicle using system identification techniques. A simple non-linear model is formed using linear least-squares, then sub-sampling based threshold sparse Bayesian regression is used to accurately discover where the simple model is not accurate and update the corresponding coefficients. An analogous simulated model is developed and verified using additional flight testing data captured from the LTAV. The third contribution of this work is the use of the LTAV identified model to develop a neural network model reference adaptive control system. During gameplay, the control system will allow the vehicle to autonomously track a user-provided trajectory. In this work, the control architecture is explained, implemented on the simulated system, and implemented on the real system. Performance of the control system is tuned, assessed, and quantified on both the simulated and real system. The control system is shown to provide tracking of the commanded state in real life and simulation during multiple trajectories used in the Defend the Republic competition.
Download or read book The DelFly written by G.C.H.E. de Croon and published by Springer. This book was released on 2015-11-26 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the topics most relevant to autonomously flying flapping wing robots: flapping-wing design, aerodynamics, and artificial intelligence. Readers can explore these topics in the context of the "Delfly", a flapping wing robot designed at Delft University in The Netherlands. How are tiny fruit flies able to lift their weight, avoid obstacles and predators, and find food or shelter? The first step in emulating this is the creation of a micro flapping wing robot that flies by itself. The challenges are considerable: the design and aerodynamics of flapping wings are still active areas of scientific research, whilst artificial intelligence is subject to extreme limitations deriving from the few sensors and minimal processing onboard. This book conveys the essential insights that lie behind success such as the DelFly Micro and the DelFly Explorer. The DelFly Micro, with its 3.07 grams and 10 cm wing span, is still the smallest flapping wing MAV in the world carrying a camera, whilst the DelFly Explorer is the world's first flapping wing MAV that is able to fly completely autonomously in unknown environments. The DelFly project started in 2005 and ever since has served as inspiration, not only to many scientific flapping wing studies, but also the design of flapping wing toys. The combination of introductions to relevant fields, practical insights and scientific experiments from the DelFly project make this book a must-read for all flapping wing enthusiasts, be they students, researchers, or engineers.
Book Synopsis Fault-Tolerant Cooperative Control of Unmanned Aerial Vehicles by : Ziquan Yu
Download or read book Fault-Tolerant Cooperative Control of Unmanned Aerial Vehicles written by Ziquan Yu and published by Springer Nature. This book was released on 2023-12-06 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the fault-tolerant cooperative control (FTCC) of multiple unmanned aerial vehicles (multi-UAVs). It provides systematic and comprehensive descriptions of FTCC issues in multi-UAVs concerning faults, external disturbances, strongly unknown nonlinearities, and input saturation. Further, it addresses FTCC design from longitudinal motions to attitude motions, and outer-loop position motions of multi-UAVs. The book’s detailed control schemes can be used to enhance the flight safety of multi-UAVs. As such, the book offers readers an in-depth understanding of UAV safety in cooperative/formation flight and corresponding design methods. The FTCC methods presented here can also provide guidelines for engineers to improve the safety of aerospace engineering systems. The book offers a valuable asset for scientists and researchers, aerospace engineers, control engineers, lecturers and teachers, and graduates and undergraduates in the system and control community, especially those working in the field of UAV cooperation and multi-agent systems.
Book Synopsis Maneuverable Formation Control in Constrained Space by : Dongyu Li
Download or read book Maneuverable Formation Control in Constrained Space written by Dongyu Li and published by CRC Press. This book was released on 2024-05-14 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspired by the community behaviors of animals and humans, cooperative control has been intensively studied by numerous researchers in recent years. Cooperative control aims to build a network system collectively driven by a global objective function in a distributed or centralized communication network and shows great application potential in a wide domain. From the perspective of cybernetics in network system cooperation, one of the main tasks is to design the formation control scheme for multiple intelligent unmanned systems, facilitating the achievements of hazardous missions – e.g., deep space exploration, cooperative military operation, and collaborative transportation. Various challenges in such real-world applications are driving the proposal of advanced formation control design, which is to be addressed to bring academic achievements into real industrial scenarios. This book extends the performance of formation control beyond classical dynamic or stationary geometric configurations, focusing on formation maneuverability that enables cooperative systems to keep suitable spacial configurations during agile maneuvers. This book embarks on an adventurous journey of maneuverable formation control in constrained space with limited resources, to accomplish the exploration of an unknown environment. The investigation of the real-world challenges, including model uncertainties, measurement inaccuracy, input saturation, output constraints, and spatial collision avoidance, brings the value of this book into the practical industry, rather than being limited to academics.
Book Synopsis Adaptive Control for Distributed Multi-agent Coordination by : Jie Luo
Download or read book Adaptive Control for Distributed Multi-agent Coordination written by Jie Luo and published by . This book was released on 2013 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Morphing Aerospace Vehicles and Structures by : John Valasek
Download or read book Morphing Aerospace Vehicles and Structures written by John Valasek and published by John Wiley & Sons. This book was released on 2012-02-24 with total page 295 pages. Available in PDF, EPUB and Kindle. Book excerpt: Morphing Aerospace Vehicles and Structures provides a highly timely presentation of the state-of-the-art, future directions and technical requirements of morphing aircraft. Divided into three sections it addresses morphing aircraft, bio-inspiration, and smart structures with specific focus on the flight control, aerodynamics, bio-mechanics, materials, and structures of these vehicles as well as power requirements and the use of advanced piezo materials and smart actuators. The tutorial approach adopted by the contributors, including underlying concepts and mathematical formulations, unifies the methodologies and tools required to provide practicing engineers and applied researchers with the insight to synthesize morphing air vehicles and morphing structures, as well as offering direction for future research.
Book Synopsis Islands of Fitness Compact Genetic Algorithm for Rapid In-Flight Control Learning in a Flapping-Wing Micro Air Vehicle by : Kayleigh E. Duncan
Download or read book Islands of Fitness Compact Genetic Algorithm for Rapid In-Flight Control Learning in a Flapping-Wing Micro Air Vehicle written by Kayleigh E. Duncan and published by . This book was released on 2019 with total page 46 pages. Available in PDF, EPUB and Kindle. Book excerpt: On-going effective control of insect-scale Flapping-Wing Micro Air Vehicles could be significantly advantaged by active in-flight control adaptation. Previous work demonstrated that in simulated vehicles with wing membrane damage, in-flight recovery of effective vehicle attitude and vehicle position control precision via use of an in-flight adaptive learning oscillator was possible. Most recent approaches to this problem employ an island-of-fitness compact genetic algorithm (ICGA) for oscillator learning. The work presented provides the details of a domain specific search space reduction approach implemented with existing ICGA and its effect on the in-flight learning time. Further, it will be demonstrated that the proposed search space reduction methodology is effective in producing an error correcting oscillator configuration rapidly, online, while the vehicle is in normal service.
