Shim, A flight control system for aerial robots

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1、ARTICLEINPRESSControlEngineeringPractice11(2003)1389–1400Aflightcontrolsystemforaerialrobots:algorithmsandexperimentsH.JinKim*,DavidH.ShimEECSDepartment,UniversityofCalifornia,459CoryHall,Berkeley,CA94720,USAReceived31October2002;accepted8April2003AbstractThispaperpresentsahierarchicalflig

2、htcontrolsystemforunmannedaerialvehicles.Theproposedsystemexecuteshigh-levelmissionobjectivesbyprogressivelysubstantiatingthemintomachine-levelcommands.Theacquiredinformationfromvarioussensorsispropagatedbacktothehigherlayersforreactivedecisionmaking.Eachvehicleisconnectedviastandardized

3、wirelesscommunicationprotocolforscalablemulti-agentcoordination.Theproposedsystemhasbeensuccessfullyimplementedonanumberofsmallhelicoptersandvalidatedinvariousapplications.Resultsfromwaypointnavigation,aprobabilisticpursuit-evasiongameandvision-basedtargettrackingdemonstratethepotentialo

4、ftheproposedapproachtowardintelligentflyingrobots.r2003ElsevierScienceLtd.Allrightsreserved.Keywords:Controlsystemsynthesis;PIDcontrol;Predictivecontrol;Nonlinearsystems;Intelligentcontrol;Real-timesystems1.Introductionincludingreconnaissance,groundtargettracking,andoperationswithlimitedl

5、aunchingspacesuchasaDeploymentofintelligentrobotshasbeenmadeshipdeckorincasesthatrequirefrequentlandingsandpossiblethroughtechnologicaladvancesinvarioustake-offs(Fig.1).fieldssuchasartificialintelligence,robotics,wirelessThelastdecadehaswitnessedremarkableprogressincommunication,andcontrol

6、theories.ThereislittleRUAVresearchincludingmodeling(Mettler,Tischler,doubtthatintelligentrobotswillbeemployedto&Kanade,1999),controltheory(Shim,Koo,Hoff-autonomouslyperformtasks,orembeddedinmanymann,&Sastry,1998;Corban,Calise,&Prasad,1998;systems,andextendourcapabilitiestoperceive,reason

7、LaCivita,Papageorgiou,Messner,&Kanade,2002)andact,orsubstitutehumaneffortsinapplicationsandavionics(Gavrilets,Shterenberg,Dehaleh,&Feron,wherehumanoperationisdangerous,inefficientand/or2000).However,thecurrentstatusstillfallsshortofimpossible.Subscribingtothisidea,BErkeley