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This paper presents a systematic approach to developing unmanned aerial vehicle (UAV) quadrotor systems. The system is built up based on a radio-controlled (R/C) quadrotor frame. With the careful selection of onboard hardware components, a physical avionics system is developed to interact with onboard sensors and actuators as well as perform data processing. To realize the control of the quadrotor,...
The UAV quadrotor is considerably difficult to be controlled due to its inherently unstable and complex multi-variable properties. To realize the control, a nonlinear dynamic model is firstly derived and formulated. A control approach employing hierarchical multiple-layer structure is then developed. The detailed hardware components, software as well as the working principle of the system are described...
This paper presents mechanism and controller design procedures of a new piezoactuated flexure XY stage for micro-/nanomanipulation applications. The uniqueness of the proposed stage lies in that it possesses an integrated parallel, decoupled, and stacked kinematical structure, which owns such properties as identical dynamic behaviors in X and Y axes, decoupled input and output motion, single-input-single-output...
In this paper, a sliding mode control with perturbation estimation (SMCPE) using an extended Kalman filter (EKF) is proposed for the motion tracking control of a micropositioning system with piezoelectric actuation. Based on the solely measurable position information, the EKF on-line estimates not only the velocity but also the hysteresis term, which are used by the SMCPE for real-time control. The...
In this paper, a two-loop controller is proposed to suppress the hysteresis and to achieve a precise motion tracking control for a piezo-driven XY parallel micropositioning system. Specifically, an inner-loop disturbance observer (DOB) is employed to tolerate the unmodeled hysteresis which is treated as a disturbance to the nominal plant model of the system, and an outer-loop feedback controller is...
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