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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...
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,...
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...
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...
This paper presents a reduced mean model of a three-dimensional Eel-like robot. Such a robot is under construction in the context of a national French robotic project. This model is based on mechanical considerations as well as on our experience with an existing 3D continuous model of the target prototype. Identification and validation of the dynamic model are presented here.
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