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,
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)
- Definition and types/configurations
- Rotor heads
- Rotorcraft components/subsystems
- Rotors
- Rotor head and swash plate
- Engine
- Servos/actuators
- Fuselage
- Tail stabilizers (vertical and horizontal fins)
- Feedback gyro (single-axis yaw and 3D gyro)
- Pilot input mapping to control surfaces
- Forces generated / Aerodynamics
- Equations of motion (EOM)
- State space approach (Linear EOM, Linearized and nonlinear EOM)
- 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