The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We demonstrate a low-power multi-pixel volatile compounds sensing platform dedicated to Internet of Things (IoT) applications, especially for environmental monitoring and industrial control. The transducers are made of interdigitated microelectrodes within a sensor array. Each pixel is independently functionalized by polypyrrole (PPy) electropolymerization performed in a back-end process in order...
This work uses the intermediary quaternions in the design of a backstepping control technique with integral properties in order to perform an autonomous trajectory tracking using a quadcopter vehicle. Nowadays, in order to determine the orientation of a vehicle, most of the inertial systems of aircrafts can give directly the rotation matrix and taking advantage of this fact, the intermediary quaternions...
This paper presents the development of a collaborative event-based control applied to the problem of formation of a group of VTOL-UAVs (Vertical Take-off and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbors. The asymptotic convergence...
We describe an ultra-low-power volatile compounds microsensor array towards increased selectivity and sensitivity. The chemiresistive transducers are 100 nm-thick interdigitated gold microelectrodes coated with polypyrrole-based polymer. Two sensors arrays were implemented with respectively 3 × 3 and 2 × 2 pixels2, showing a surface per pixel down to 400 × 200 μm2. The fabrication is fully CMOS-compatible...
This paper presents the development of a collaborative event-based control applied to the problem of consensus and formation of a group of VTOL-UAVs (Vertical Take-off and Landing, Unmanned Aerial Vehicles). Each VTOL-UAV decides, based on the difference of its current state (linear position and velocity) and its latest broadcast state, when it has to send a new value to its neighbors. The asymptotic...
In the present work, an adaptive backstepping algorithm is developed in order to counteract the effects of disturbances. These disturbances are modeled as a constant force in the translational model part and as a constant torque in the orientation model part. We make the deduction of the mathematical expression for the proposed control algorithm and also we show its performance in simulation. Additionally,...
The usage of a helmet to command a mini-unmanned aerial vehicle (mini-UAV), is a telepresence system that connects the operator to the vehicle. This paper proposes a system which remotely allows the connection of a pilot's head motion and the 3D movements of a mini-UAVs. Two velocity control algorithms have been tested in order to manipulate the system. Results demonstrate that these movements can...
This paper proposes a simple solution for stabilization of a nano-hexacopter carrying a manipulator arm in order to increase the type of missions achievable by these types of systems. The manipulator arm is attached to the lower part of the hexacopter. The motion of the arm induces a change of the center of mass of the whole body, which induces torques which can produce the loss of stability. The...
This paper presents the development of a quaternion-based nonlinear event-triggered control for the attitude stabilization of Flying robots. Firstly, it is proved the existence of a Control Lyapunov Function. Unlike some previously proposed schemes, the aim of this paper is to propose a new and simpler event function. The control law ensures the asymptotic stability of the closed-loop system to the...
This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral backstepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying...
In this paper, a discrete state feedback Linear Quadratic Regulator (LQR) for event-triggered control is presented. To ensure zero steady state error in the case of such controllers, one normally extends the states with an integral action. Instead of using integral action, the idea is to estimate the disturbance causing the steady state error and use this to extend the states. A Lyapunov-based event...
In this paper, a state-feedback linear-quadratic regulator (LQR) is proposed for event-based control of a linear system. An interesting property of LQRs is that an optimal response of the system can be obtained in accordance to some specifications, like the actuator limits. An integral action is also added in order to not only restrict the study to null stabilization but also to tracking. The idea...
Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback is derived...
This paper deals with the development and implementation of a cheap Micro Attitude and Heading Reference System (AHRS) using low-cost inertial and magnetic sensors. The orientation is parameterized with unit quaternion and the data fusion is done unifying a quaternion linear formulation of Wahba's problem with a Multiplicative Extended Kalman Filter. It includes the gyro bias model. The estimation...
Server technology provides a means to support a wide range of online services and applications. However, their ad hoc configuration poses significant challenges to the performance, availability, and economical costs of applications. In this paper, we examine the impact of server configuration on the central trade-off between service performance and availability. First, we present a server model as...
A two voltage level electronic device is interesting because the clock frequency and the supply voltage level could be reduced (respecting certain rules) in order to decrease the energy consumption. We proposed in a previous paper a robust control architecture to deal with this power-performance tradeoff and we are now interested in extending this principle for several devices which works together...
A two voltage level electronic device is interesting because the clock frequency and the supply voltage level could be reduced in order to decrease the energy consumption. However, these two quantities have to be controlled respecting certain rules, and decreasing them leads to a reduced computational speed. In this paper a control architecture is proposed to deal with this power performance tradeoff...
Although server technology provides a means to support a wide range of online services and applications, their ad-hoc configuration poses significant challenges to the performance, availability and economical costs of applications. In this paper, we examine the impact of server configuration on the central tradeoff between service performance and availability. First, we present a server model as a...
This paper presents two bounded attitude control laws of a high frequency Flapping Micro Aerial Vehicle (FMAV) based on sensors measurements feedback. First, a simplified model of a FMAV is proposed using only the steady aerodynamic efforts. Since solely the averaged forces and torques affect the body's movement, the control laws are computed using the averaged model and applied to the time varying...
Practically, the attitude control of rigid bodies necessitates the estimation of the orientation and the measurement of the angular velocity. Consequently, the computational cost of the control loop is relatively high. In the present paper, two bounded control laws for attitude stabilization are proposed; the first one is designed without attitude estimation but using angular velocities measurements...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.