Mathematical modeling, navigation and control of different types of unmanned aircraft. Linear and nonlinear controller design approaches, advantages and disadvantages. Real-time implementation and testing given onboard sensor libraries. Multi-UAV collaboration and coordination.

Knowledge of feedback control systems is required. Knowledge of fundamentals of robotics is desirable, but not necessary. All required background information will be presented in class

Prof. Kimon P. Valavanis - University of Denver Course Summary: The course objective is twofold: i.) To provide a comprehensive study of unmanned fixed-wing and rotorcraft navigation and control techniques, 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 presentation of linear, linearized, nonlinear and soft-computing based controller designs are discussed, the focus being on helicopter, rotorcraft, and fixed-wing 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. ii.) To present a detailed methodology for designing and navigating/controlling a new type of fixed-wing aircraft with enhanced aerodynamic performance based on the concept of Circulation Control, which allows for lift enhancement, reduced takeoff and landing distance, delayed stall and increased effective payload. CC based aircraft design is followed by controller design that also includes identification of stability and control derivatives. Simulation results, experimental/wind-tunnel and flight tests validate and verify the proposed methodology. Consequently, a general framework for controller design of a class of nonlinear systems with unstructured, time-varying uncertainties (aerodynamic uncertainties) is proposed, supported by obtained results.

In presenza

Presentazione orale

P.D.2-2 - Aprile

Tentative Schedule – All lectures will be held in DET Maxwell Conference Room Monday, April 11 1530 – 1830 Tuesday, April 12 0900 – 1200 and 1400 – 1700 Wednesday, April 13 0900 – 1200 and 1400 - 1700 The previous 15 hours block will be ended with a project assignment. Students are advised to carry their laptops with them. Instructions for software/configuration will be provided in due time. Tuesday, April 26 1000 - 1200 Wednesday, April 27 0900 - 1200 Thursday, April 28 0900 - 1200 Friday, April 29 1000 - 1200