Categoria: Seminari e Convegni
Stato: Archiviata
19 settembre 2016

Corso di eccellenza "Navigation and Control of Unmanned Fixed-Wing and Rotorcraft: A Comprehensive Approach" tenuto dal Prof. Prof. Dr. Ing. Kimon Valavanis - University of Denver, Colorado – USA,

alle h. 9.00 presso la Sala Riunioni “C. Ferrari” – DIMEAS, II piano

Durante la I lezione verrà concordato, nei limiti del possibile, l’orario delle successive lezioni che, in ogni caso, si concluderanno entro il 23 settembre.
La durata sarà di 20 ore e al termine si terrà una verifica che permetterà di ottenere, al suo superamento, il giudizio “merit”.
Per quanto riguarda i crediti formativi, i dottorandi sono pregati di contattare SCUDO (scudo@polito.it).
Gli interessati a frequentare il Corso sono pregati di comunicare il proprio nominativo a: fulvia.quagliotti@polito.it, vilma.boaglio@polito.it

Course Summary: The course provides a comprehensive study of unmanned fixed-wing and rotorcraft navigation and control, including a review of kinematics, dynamics and equations of motion, sensors, identification, controller design and implementation, as well as advances in unmanned aviation technology. A very detailed survey of linear, linearized, nonlinear and soft-computing based controller designs are discussed, the main focus being on helicopter navigation and control designs. A comprehensive comparison of advantages and limitations of implemented techniques follows, subsequently introducing a generalized ‘one-fits-all’ flight control system (FCS) in which the specific controller design approach is a plug-in-plug-out module. Implementation details and how to guarantee task execution given strict timing requirements is detailed. Case studies include simulation and experimental results for several prototype UAVs. Prerequisites: Knowledge of control systems is required. However, all required background information will be presented in class.
Intended audience: The course is suitable for advanced M.Sc. and PhD students who conduct research in (linear/nonlinear) control systems, robotics, UAVs, etc.

COURSE OUTLINE
Course modules include:

  • Introduction
    • Brief History of Unmanned Aviation
    • Types of Unmanned Aircraft
    • Current state-of-the-art
    • Challenges
  • Review of rigid body motions, homogeneous transformations, coordinate frames for aided navigation
    • Fixed-wing aircraft
    • Rotorcraft
  • 6-DoF Rigid body dynamics and kinematics
    • Derivation of Newton-Euler equations
    • Position and orientation dynamics
    • Derivation of forces and moments
    • Moment of inertia and the inertia tensor
  • Unmanned Fixed-Wing and Rotorcraft (main focus on rotorcraft)
  1. Definition and types/configurations
  2. Rotor heads
  3. Rotorcraft components/subsystems
  4. Rotors
    1. Rotor head and swash plate
    2. Engine
    3. Servos/actuators
    4. Fuselage
    5. Tail stabilizers (vertical and horizontal fins)
    6. Feedback gyro (single-axis yaw and 3D gyro)
  5. Pilot input mapping to control surfaces
  6. Forces generated / Aerodynamics
  7. Equations of motion (EOM)
  8. State space approach (Linear EOM, Linearized and nonlinear EOM)
  9. Different flight modes (hover, aggressive, non-aggressive)
  • Sensors and communication
  • UAS Navigation controller technology
  • System Identification
    • System ID general process
    • Parameter vs. Experimental
    • Time vs. Frequency
    • Frequency response method (Mettler), MOSCA (CMU)
    • Parameter based (Alberta)
    • Tools for flight testing/data collection
    • Simulation tools
  • Control fundamentals (State space vs I/O approaches)
    • Model-based, model-free methods
    • State space explanation
    • Linearization of EOM
    • Linear versus nonlinear versus model-free
    • Continuous versus discrete time
    • Linear systems (PID, LQG/LQR, H-∞, Gain Scheduling, etc.)
    • Nonlinear systems
    • Feedback linearization
    • Backstepping
    • Adaptive/MPC
    • Controller tuning/optimization State-space approach
  • Controller Design for Unmanned Rotorcraft
    • Linear/Non-linear
    • From design to implementation and testing
    • (Design, Simulation, Processor-In-the-Loop (PIL), Hardware-In-the-Loop (HIL), Flight testing/implementation
  • XMOS based processor Implementation
  • Comprehensive Navigation-Control Architecture
    • Modularity
    • Add-on components (Fault-tolerance, etc.)
    • Timing requirements
  • Applications and case studies
  • Independent module: On Circulation Control Based fixed-wing aircraft
    • The Coanda effect
    • Fundamentals of Circulation Control (CC)
    • Designing CC wings (CCWs)
    • Designing CCW-based fixed-wing UAVs
    • Applications