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Koopman-Based Reduced Order Controller Design for Quadrotors
Simone Martini;Kimon P. Valavanis;Margareta Stefanovic;Alessandro Rizzo;Matthew J. Rutherford
2024 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2024 | Conference Paper |
Cited by: Papers (1)
A novel Koopman-based reduced order controller for quadrotor stabilization and trajectory tracking is derived, implemented and tested. Controller design exploits Koopman spectral theory for which an infinite dimensional Koopman-based linear dynamics model, embedding the dynamics of the underlying nonlinear system, may be represented by a finite subset of the eigenfunctions of the Koopman operator....Show More
Evaluation and Comparison of State and Disturbance Observers for a Terrestrial Hexacopter
Laura Sopegno;Salvatore Pedone;Matthew J. Rutherford;Patrizia Livreri;Kimon P. Valavanis
2024 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2024 | Conference Paper |
Unmanned Aerial Vehicles (UAVs) have been used for a wide range of civil and public domain applications, as well as for missions to Mars, during the last two decades. Multirotor UAV configurations, such as hexacopters, strike a balance between different design considerations, offering improved performance and reliability compared to other options. For autonomous exploration scenarios, Guidance, Na...Show More
An Advanced Hexacopter for Mars Exploration: Attitude Control and Autonomous Navigation
Laura Sopegno;Simone Martini;Salvatore Pedone;Adriano Fagiolini;Matthew J. Rutherford;Margareta Stefanovic;Alessandro Rizzo;Patrizia Livreri;Kimon P. Valavanis
Mars exploration has recently witnessed major interest within the scientific community, particularly because unmanned aerial robotic platforms offer reliable alternatives for acquiring and collecting data and information from the Red Planet. However, the specific conditions of the Martian environment result in a restricted flight envelope when flying close to Mars and then landing on the surface o...Show More
A Benchmark Framework for Testing, Evaluation, and Comparison of Quadrotor Linear and Nonlinear Controllers
Simone Martini;Margareta Stefanovic;Alessandro Rizzo;Matthew J. Rutherford;Patrizia Livreri;Kimon P. Valavanis
2023 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2023 | Conference Paper |
Cited by: Papers (4)
A benchmark framework to test, evaluate, and compare different quadrotor controllers is presented. A detailed nonlinear quadrotor model and a set of six mission scenarios are used to evaluate seven state-of-the-art linear and nonlinear controllers. The quadrotor model is based on the Lagrange formulation and includes aerodynamic and gyroscopic effects, allows for sensor feedback noise to be introd...Show More
Euler-Lagrange Modeling and Control of Quadrotor UAV with Aerodynamic Compensation
Simone Martini;Serhat Sönmez;Alessandro Rizzo;Margareta Stefanovic;Matt J. Rutherford;Kimon P. Valavanis
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2022 | Conference Paper |
Cited by: Papers (13)
Research focuses on deriving an accurate mathematical model for quadrotor UAVs based on the Euler-Lagrange formulation, which also includes gyroscopic effects and aerodynamic drag. The obtained model is implemented in Matlab/Simulink and compared against a Simscape Multibody implementation. Then, a PD hierarchical control with exact linearization is implemented, tested and compared with the same c...Show More
Comparison of Controller Performance for UGV-Landing Platform Self-Leveling
Mohammed N. Alghanim;Mohammed Qasim;Kimon P. Valavanis;Matthew J. Rutherford;Margareta Stefanovic
2020 28th Mediterranean Conference on Control and Automation (MED)
Year: 2020 | Conference Paper |
Cited by: Papers (2)
This paper focuses on a comparative study of linear, nonlinear and adaptive controller performance to level within 1° of the horizon - regardless of terrain configuration, i.e., rough, asphalt, off-road - a custom-built landing platform for quadrotors and small-scale helicopters to take-off and land. The landing platform is built on top of the commercially available Argo J5 Unmanned Ground Vehicle...Show More
Passivity-Based Adaptive Controller for Dynamic Self-Leveling of a Custom-Built Landing Platform on Top of a UGV
Mohammed N. Alghanim;Mohammed Qasim;Kimon P. Valavanis;Matthew J. Rutherford;Margareta Stefanovic
2020 28th Mediterranean Conference on Control and Automation (MED)
Year: 2020 | Conference Paper |
Cited by: Papers (1)
A Passivity-Based Adaptive Controller (PBAC) is derived and tested for the integrated Argo J5 Skid Steering Mobile Robot (SSMR) and custom-built landing platform. The twofold aim is to demonstrate landing platform dynamic self-leveling accuracy, coupled with accurate Argo J5 trajectory tracking in rough and uneven terrains. The overall system dynamic model based on Euler-Lagrange and Terramechanic...Show More
Mars Sample Return Mission: Mars Ascent Vehicle Propulsion Design
Laura Sopegno;Kimon P. Valavanis;Matthew J. Rutherford;Lorenzo Casalino
The aim of this research is to analyze a potential Mars Sample Return (MSR) mission through the study of an optimized design of the Mars Ascent Vehicle (MAV) propulsion system. The main goal of the MSR mission is to return to Earth samples of rocks and dust collected by a rover operating on the surface of Mars, and conveyed to the MAV into an Orbit Sample (OS) canister. The MAV must accomplish an ...Show More
Modeling, Control, and Wheel-Terrain Interaction Dynamics of the UGV Argo J5
Mohammed N. Alghanim;Kimon P. Valavanis;Matthew J. Rutherford
This paper presents detailed analysis, modeling, and controller design of the Skid Steering Mobile Robot (SSMR) Argo J5 with a custom-built landing platform, which also considers wheel-terrain interaction for control purposes. Terramechanics theory and the Argo J5 kinetics are combined to analyze the wheel-terrain interaction for different types of terrain. A PD controller is, then, designed to de...Show More
A Survey of Artificial Neural Networks with Model-based Control Techniques for Flight Control of Unmanned Aerial Vehicles
Weibin Gu;Kimon P. Valavanis;Matthew J. Rutherford;Alessandro Rizzo
2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2019 | Conference Paper |
Cited by: Papers (14)
Model-based control (MBC) techniques have been successfully developed for flight control applications of unmanned aerial vehicles (UAVs) in recent years. However, their heavy reliance on the fidelity of the plant model coupled with high computational complexity make the design and implementation process challenging. To overcome such challenges, attention has been focused on the use of artificial n...Show More
Urban Monitoring of Smart Communities Using UAS
Pierluigi Pannozzi;Kimon P. Valavanis;Matthew J. Rutherford;Giorgio Guglieri;Matteo Scanavino;Fulvia Quagliotti
2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2019 | Conference Paper |
Cited by: Papers (8)
Unmanned Aircraft Systems (UAS) have become prevalent for a wide spectrum of civilian applications. Support tools and technologies for UAS-based monitoring of smart cities and communities are under development, where Unmanned Aerial Vehicles (UAVs) are the main means of implementation. UAVs provide the eye-in-the-sky alternative to ground-based monitoring, contributing to safety, early anomaly det...Show More
A Software in the Loop (SIL) Kalman and Complementary Filter Implementation on X-Plane for UAVs
Michail G. Michailidis;Mohammed Agha;Matthew J. Rutherford;Kimon P. Valavanis
2019 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2019 | Conference Paper |
Cited by: Papers (1)
The paper presents a software in the loop (SIL) sensor study in simulation environments for traditional Kalman, linear and nonlinear complementary filters, which are derived, tested and implemented on a fixed wing UAV for attitude estimation (pitch, roll and heading angle). An overview of the SIL setup environment between MATLAB/Simulink and the X-Plane flight simulator is given. Kalman filter des...Show More
Nonlinear Control of Fixed-Wing UAVs with Time-Varying Aerodynamic Uncertainties Via $\mu$-Synthesis
Michail G. Michailidis;Konstantinos Kanistras;Mohammed Agha;Matthew J. Rutherford;Kimon P. Valavanis
2018 IEEE Conference on Decision and Control (CDC)
Year: 2018 | Conference Paper |
Cited by: Papers (5)
This paper presents a novel application of $\mu$. synthesis design for nonlinear control of fixed-wing UAVs with unstructured, time-varying uncertainties during flight. The nominal/uncertain plant approach is utilized, with additive uncertainty weighting functions incorporating the information for the respective unknown parameters with time-varying structure. The proposed controller design framewo...Show More
An Empirical Evaluation of Ground Effect for Small-Scale Rotorcraft
2018 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2018 | Conference Paper |
Cited by: Papers (30)
Ground effect refers to the apparent increase in lift that an aircraft experiences when it flies close to the ground. For helicopters, this effect has been modeled since the 1950's based on the work of Cheeseman and Bennett, perhaps the most common method for predicting hover performance due to ground effect. This model, however, is based on assumptions that do not hold for small-scale rotorcraft ...Show More
An Empirical Evaluation of Ceiling Effect for Small-Scale Rotorcraft
2018 International Conference on Unmanned Aircraft Systems (ICUAS)
Year: 2018 | Conference Paper |
Cited by: Papers (24)
Ceiling effect refers to the apparent increase in lift that a rotorcraft experiences when flying close to a ceiling or any similar surface that is present above the rotor(s). Ceiling effect is similar in principle to ground effect, in which an increase in lift is observed flying close to the ground. Ground effect has been well studied for conventional helicopters since the 1950's, and more recent ...Show More
Robust nonlinear control of the longitudinal flight dynamics of a circulation control fixed wing UAV
Michail G. Michailidis;Konstantinos Kanistras;Mohammed Agha;Matthew J. Rutherford;Kimon P. Valavanis
2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Year: 2017 | Conference Paper |
Cited by: Papers (10)
Circulation Control (CC) is an effective technique to increase lift and improve aerodynamic efficiency of Unmanned Aerial Vehicles (UAVs). This paper introduces a novel, robust nonlinear controller for the longitudinal flight dynamics of a CC-based fixed-wing Unmanned Aerial Vehicle (UC2AV) that operates in cascaded fashion and takes into account changing mass. The controller consists of a dynamic...Show More
A controller design framework for a NextGen circulation control based UAV
Michail G. Michailidis;Mohammed Agha;Konstantinos Kanistras;Matthew J. Rutherford;Kimon P. Valavanis
2017 IEEE Conference on Control Technology and Applications (CCTA)
Year: 2017 | Conference Paper |
Cited by: Papers (6)
Circulation Control (CC) is an active flow blowing technique that can be used on small scale fixed-wing Unmanned Aerial Vehicles (UAVs) to enhance lift and aerodynamic efficiency, resulting in enhanced payload capabilities. This paper presents a novel, newly introduced controller design for what could be the next generation UAV, the Unmanned Circulation Control Aerial Vehicle (UC2AV). Controller d...Show More
Learning-based formal synthesis of cooperative multi-agent systems with an application to robotic coordination
Jin Dai;Alessandro Benini;Hai Lin;Panos J. Antsaklis;Matthew J. Rutherford;Kimon P. Valavanis
2016 24th Mediterranean Conference on Control and Automation (MED)
Year: 2016 | Conference Paper |
Cited by: Papers (10)
In our previous work [4], we proposed a learning-based formal top-down design framework to automatically synthesize coordination and control strategies for cooperative multi-agent systems. Our main idea is to decompose a given team mission into individual local tasks and synthesizing local supervisors while guarantee the multi-agent performance by incorporating supervisor synthesis with compositio...Show More
Development of a framework for a circulation control-based unmanned aerial vehicle
Pranith Chander Saka;Konstantinos Kanistras;Kimon P. Valavanis;Matthew J. Rutherford
The focus of this paper is on the design, development and evaluation of a framework for a fixed-wing UAV to achieve efficient Circulation Control-based (CC) flights. The research presented in this paper is the natural outgrowth of results reported in [1] related to the design and development of an Air Supply Unit (ASU) and plenum design for CC-based Unmanned Aerial Vehicles (UAVs). The framework c...Show More
Real-time, GPU-based pose estimation of a UAV for autonomous takeoff and landing
2016 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2016 | Conference Paper |
This paper proposes a real-time system for pose estimation of an Unmanned Aerial Vehicle (UAV) using parallel image processing of a known marker. The system exploits the capabilities of a high-performance CPU/GPU embedded system in order to provide on-board high-frequency pose estimation, eliminating the need for transmitting the video stream off-board, and enabling autonomous takeoff and landing....Show More
Scaled control performance benchmarks and maneuvers for small-scale unmanned helicopters
Jessica Alvarenga;Nikolaos I. Vitzilaios;Matthew J. Rutherford;Kimon P. Valavanis
2015 54th IEEE Conference on Decision and Control (CDC)
Year: 2015 | Conference Paper |
Cited by: Papers (4)
The paper proposes a methodology for designing trajectories to form a basis for evaluating and comparing performance of navigation controllers on any small-scale helicopter platforms, as there currently exist no benchmarks for small-scale helicopters. Consideration is given to maneuvers designed to evaluate full-scale helicopter/pilot combinations adapting them to the dynamics of small-scale helic...Show More
Predicting data structures for energy efficient computing
2015 Sixth International Green and Sustainable Computing Conference (IGSC)
Year: 2015 | Conference Paper |
Dynamic data structures in software applications have been shown to have a large impact on system performance. In this paper, we explore energy saving opportunities of interface-based dynamic data structures. Our results suggest that opportunities do exist in the C5 Collection, at least 16.95% and up to 97.50%. We propose an architecture for building adaptive green data structures by applying mach...Show More
Decentralized intersection management through peer-to-peer technology
2015 IEEE International Conference on Peer-to-Peer Computing (P2P)
Year: 2015 | Conference Paper |
Cited by: Papers (2)
In this paper we present two new decentralized algorithms for autonomous intersection management and compare the performance of the algorithms with an established centralized solution. One of the algorithms addresses the problem through an unstructured peer-to-peer approach and the other uses a Distributed Hash Table to distribute knowledge of intersection usage among participating vehicles. We ev...Show More
A mobile self-leveling landing platform for VTOL UAVs
Stephen A. Conyers;Nikolaos I. Vitzilaios;Matthew J. Rutherford;Kimon P. Valavanis
2015 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2015 | Conference Paper |
Cited by: Papers (16)
A semi-autonomous mobile self-leveling landing platform designed to launch, recover and re-launch VTOL UAVs without the need for human intervention is described. The landing platform is rugged, lightweight and inexpensive, making it ideal for civilian applications that require a base station from which a rotorcraft UAV can be launched and/or recovered on terrain that is normally unsuitable for UAV...Show More
Design and development of an Air Supply Unit for Circulation Control Wing-based UAVs
Konstantinos Kanistras;Pranith Chander Saka;Kimon P. Valavanis;Nikolaos I. Vitzilaios;Matthew J. Rutherford
The main contribution of this paper is the design, development and evaluation of a light-weight Air Supply Unit (ASU) and its associated speed controller, suitable for use in Circulation Control Wings (CCW) of small-scale Unmanned Aerial Vehicles (UAVs). An iterative process, presented here, is used to optimize the design of the centrifugal compressor for the ASU through extensive simulation. The ...Show More
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