Control Design of Unmanned Aerial Vehicles (UAVs)
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1 Control Design of Unmanned Aerial Vehicles (UAVs) Roberto Tempo CNR-IEIIT Consiglio Nazionale delle Ricerche Politecnico di Torino
2 Control of UAVs UAVs: Unmanned aerial vehicles of different size which may be used for monitoring and detection Without control UAVs do not fly!
3 Micro and Mini UAVs: Surveillance and Territorial Monitoring MARVEL Project MicroHawk 150 Italian Ministry for Research -MicroHawk 1000 PNRA Piano Nazionale Ricerca in Antartide Regione Piemonte Research Program ITHACA Program
4 UAVs for Fire Prevention and Natural Disaster Recognition Activity supported by the Italian Ministry for Research within a National Project Objective: Educational and research Research groups in control, aerospace, communication, computer engineering and government agency for fire surveillance and patrol located in Sicily Task: Construct aerial platform for remote piloting and autonomous flight Various sensors and two cameras (color and infrared) Speed: m/s, flight endurance of 40 min
5 MH1000 Wingspan:1 m; weight: 1.5 Kg MH1000 Platform Ground station Communication protocols/software Platform based on the MicroHawk configuration developed at Department of Aerospace Engineering, Politecnico di Torino
6 Prototype Manufacturing Performed by Students - 1 raw material polistyrene plywood glue epoxy resin carbon fiber balsa wood kevlar fiberglass
7 Prototype Manufacturing Performed by Students - 2 working instruments cutting machine lifting surfaces outline slide outline fuselage reference
8 Prototype Manufacturing Performed by Students - 3 easy and cheap construction rapid manufacturing bad model reproducibility inaccurate geometry
9 Prototype Manufacturing Performed by Students - 3 control design and stabilization in the presence of uncertain parameters
10 Right Turn and Landing L. Lorefice, B. Pralio and R. Tempo, Randomization-Based Control Design for Mini-UAVs, Control Engineering Practice, 2009
11 MH2000: Monitoring Archaeological Sites MH2000 Wingspan:2 m; weight: 7 Kg (electric engine) E. Capello, G. Guglieri and F. Quagliotti, A Software Tool for Mission Design and Autopilot Integration: an Application to Micro Aerial Vehicles, Euro-SIW European Simulation Interoperability Workshop, 2008
12 MH2000: Monitoring Archaeological Sites Archaeological site: Roman city Bene Vagienna (Augusta Bagiennorum)
13 MH2000: Monitoring Archaeological Sites Archaeological Sites Monitoring, F. Quagliotti, ITHACA, 2008
14 MH850 and MH600: Formation Flight MH850 Wingspan: 0.85m; weight: 0.8 Kg MH600 Wingspan: 0.60 m ; weight: 0.62 Kg
15 MH850 and MH600: Formation Flight Needs to control more than one platform (leader follower formation) in the presence of uncertainty Uncertainty: distance and angles between UAVs Challenges: controllers that are optimal, robust to uncertainties and flexible to fast dynamic changes Altitude is maintained constant without altitude hold loop E. Capello and R. Tempo, Monte Carlo Algorithms for Stabilization and Control of UAVs Formation Flight
16 MH850 and MH600: Formation Flight MH850 and MH600
17 Conclusions UAV projects for education and research Importance of systems and control technology
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