7 research outputs found
Distributed cooperative state estimation and control for multi-agent autonomous systems
No full textThis dissertation addresses several problems related to distributed cooperative state
estimation and control design for multi-agent rigid-body autonomous systems, namely
bearing-based distributed pose estimation, distributed attitude estimation on SO(3), and
global attitude synchronization on SO(3).
We consider the distributed pose estimation problem for multi-agent rigid-body systems, under a directed graph topology, assuming that two agents have access to their
respective poses. First, we consider the case where all agents have static positions and
time-varying orientations, and propose two distributed pose estimation schemes evolving
on SO(3) × R
3 and SO(3) × R
3 × R
3
, with almost global asymptotic stability guarantees. Thereafter, we consider the case where the agents positions and orientations are
time-varying, and propose a distributed pose observer evolving on SO(3)×R
3
, with local
exponential stability guarantees. The three proposed estimation schemes rely on individual angular velocity (and linear velocity in the case of agents with time-varying positions)
measurements and local information exchange between neighboring agents (relative timevarying bearing measurements and estimated poses).
Next, we consider the problem of distributed attitude estimation of multi-agent systems, evolving on SO(3), relying on individual angular velocity and relative attitude
measurements, under an undirected, connected and acyclic communication graph topology. We propose two distributed attitude observers on SO(3); a continuous version and a
hybrid version, endowed respectively with almost global asymptotic stability and global
asymptotic stability guarantees. In addition, the proposed hybrid attitude estimation
scheme is used to solve the pose estimation problem of multi-agent rigid-body systems,
with global asymptotic stability guarantees, relying on individual linear and angular
velocity measurements as well as local relative bearing and relative orientation measurements.
Finally, we propose a distributed hybrid attitude synchronization scheme (with and
without individual velocity measurements) for a group of rigid body systems evolving on
SO(3) under an undirected, connected and acyclic communication graph topology, with
global asymptotic stability guarantees
Distributed Attitude Estimation for Multi-agent Systems on
No full textWe consider the problem of distributed attitude estimation of multi-agent
systems, evolving on , relying on individual angular velocity and
relative attitude measurements. The interaction graph topology is assumed to be
an undirected tree. First, we propose a continuous nonlinear distributed
attitude estimation scheme with almost global asymptotic stability guarantees.
Thereafter, we proceed with the \textit{hybridization} of the proposed
estimation scheme to derive a new hybrid nonlinear distributed attitude
estimation scheme enjoying global asymptotic stabilization of the attitude
estimation errors to a common constant orientation. In addition, the proposed
hybrid attitude estimation scheme is used to solve the problem of pose
estimation of -vehicles navigating in a three-dimensional space, with global
asymptotic stability guarantees, where the only available measurements are the
local relative bearings and the individual linear velocities. Simulation
results are provided to illustrate the effectiveness of the proposed estimation
schemes
Control design and visual autonomous navigation of quadrotor
No full text82 p.Starting from the fact that quadrotors are nonlinear MIMO system that operates in 3D space, the task of stabilizing and generating suitable control commands have been the interest of many researches. Another challenging task is the autonomous navigation as both the weight and the computation capacity are limited which constrains the type of sensors and algorithms. In this project, an autonomous navigation and obstacle avoidance system based on monocular camera has been implemented which enables the quadrotor navigates in previously unknown GPS-denied environment. Moreover, four controllers have been designed and their performance were compared.The mathematical model of aUniversité M'Hamed Bougara Boummerdes : Institut genie électrique et électroniqu
Control design and visual autonomous navigation of quadrotor
No full text82 p.Starting from the fact that quadrotors are nonlinear MIMO system that operates in 3D space, the task of stabilizing and generating suitable control commands have been the interest of many researches. Another challenging task is the autonomous navigation as both the weight and the computation capacity are limited which constrains the type of sensors and algorithms. In this project, an autonomous navigation and obstacle avoidance system based on monocular camera has been implemented which enables the quadrotor navigates in previously unknown GPS-denied environment. Moreover, four controllers have been designed and their performance were compared.The mathematical model of a quadrotor has been derived using Newton’s and Euler’s laws, where a linear and nonlinear version of the model are presented, based on that various control strategies such as LQR, PID, Feedback Linearization with pole placement and Sliding Mode control Have been implemented in MATLAB/Simulink and discussed. Sensor data and the camera video stream have been used by a Keyframe visual SLAM system to compute the location of the drone and generate the 3D map of the environment in the form of point cloud. This point cloud data is clustered and used for obstacle detection. Moreover a PRM algorithm has been used to generate a collision-free path that will be followed by the drone based on the PID controller designed. We implemented our approach on a real Parrot ARDrone2.0, and our approach has been validated with experiments. All computations are performed on a ground station, which isconnected to the drone via wireless LAN.Université M’hamed Bougara Boumerdes : Insistut de ginie électrice et électroniqu
Control Design and Visual Autonomous Navigation of Quadrotor
No full textIn this paper, an autonomous navigation and obstacle avoidance system based on monocular camera has been designed and implemented which enables the quadrotor to navigate in a previously unknown GPS-denied environment. Moreover, four controllers have been designed, simulated and their performance were compared. The various control strategies are LQR, PID, Feedback Linearization with pole placement and Sliding Mode control.Sensor data and the camera video stream have been used by a Key-frame visual simultaneous localization and mapping (SLAM) system to compute the location of the drone and generate the 3D map of the environment in the form of point cloud. This point cloud data is clustered and used for obstacle detection. Moreover a probabilistic roadmap (PRM) algorithm has been used to generate a collision-free path that will be followed by the drone based on the chosen controller.We implemented our approach on a Parrot ARDrone2.0, and the theoretical results have been validated with experiments. All computations are performed on a ground station, which is connected to the drone via wireless LA
Civil society and political change in Morocco
No full textEThOS - Electronic Theses Online ServiceGBUnited Kingdo
