Page 34 - ASME DSCC 2015 Program

Technical Program

Extended Kalman filter Based Quadrotor State Estimation Based on Robust optimal fuzzy Model-Based Control of flexible Spacecraft With
Asynchronous Multisensor Data Actuator Amplitude and Rate Constraints
Contributed regular paper. DSCC2015-9929 Contributed regular paper. DSCC2015-9902
Mohammad Sarim, Alireza nemati, Kelly Cohen, University of Cincinnati, Chokri Sendi, Santa Clara University, Santa Clara, CA, United States,
Cincinnati, OH, United States, Manish Kumar, University of Toledo, Toledo, Mohammad Ayoubi, Santa Clara University, Department of Mechanical
OH, United States Engineering, Santa Clara, CA, United States
For effective navigation and tracking applications involving Unmanned This paper presents a robust-optimal fuzzy controller for position and
Aerial Vehicles (UAVs), data fusion from multiple sensors is utilized. However, attitude stabilization, and vibration suppression of a flexible spacecraft
asynchronous nature of the sensors, coupled with loss of data and commu- during antenna retargeting maneuver. The fuzzy controller is based on
nication delays, makes this process not very reliable. For a better estimation Takagi-Sugeno (T-S) fuzzy model and uses the dynamic parallel distributed
of the data, some sort of filtering scheme is needed. This paper presents an compensator (DPDC) technique to quadratically stabilize the closed-loop
Extended Kalman Filter (EKF) based quadrotor state estimation by exploiting system. The proposed controller is robust to parameter and unstructured
the dynamic model of the UAV. The data coming from the sensors is noisy uncertainties of the model. We improve the performance and the efficiency
and intermittent. The EKF filters and provides estimated data for the missing of the controller by minimizing the upper bound of the actuators amplitude
timestamps. An indoor flight test establishes the accuracy of the EKF, and and rate, and maximizing the uncertainties terms included in the T-S fuzzy
another outdoor flight test validates the developed scheme for the real model. In addition to actuator amplitude and rate constraints, a fuzzy mod-
world scenario. el-based observer is considered for estimating unmeasurable states. Using
Lyapunov stability theory and linear matrix inequalities (LMIs), we formulate
flight formation of Quad-copters in Presence of Dynamic obstacles
the problem of designing an optimal-robust fuzzy controller/observer with
using Mixed Integer linear Programming
actuator amplitude and rate constraints as a convex optimization problem.
Contributed regular paper. DSCC2015-9931
Numerical simulation is provided to demonstrate and compare the stability,
Mohammadreza Radmanesh, Manish Kumar, University of Toledo, Toledo, performance, and robustness of the proposed fuzzy controller with a base-
OH, United States, Alireza nemati, Mohammad Sarim, University of line nonlinear controller.
Cincinnati, Cincinnati, OH, United States
This paper proposes the implementation of Mixed Integer Linear Program- InVITED SESSIon
ming (MILP) for efficient path planning of UAVs in various flight formations. 2-9-2 WP2 Human Robot Interaction 2
The Unmanned Aerial Vehicles (UAVs) taking part in a cooperative flight are George Bellows B 4:00pm–6:00pm
assumed to be equipped with Automatic Dependent Surveillance Broadcast
(ADS-B) which enables sharing the flight information with neighboring air- Session Organizer: nitin Sharma, University of Pittsburgh
crafts. The design and implementation of the flight formation algorithm have Session Organizer: P. Artemiadis, Arizona State University
been carried out for a general case, such that multiple UAVs with arbitrarily Session Organizer: ozkan Celik, Colorado School of Mines
geographically located base stations can take part in the formation flight Session Chair: Marcia o’Malley, Rice University
and collision avoided path planning. The paper formulates the problem of Session Co-Chair: Azim Eskandarian, Virginia Tech
path of planning in the framework of MILP and proposes a cost function that
“design and assessment of a high Speed Low Torque joint
minimizes time and energy consumption. The performance of the proposed
Transmission for use in a Partial Hand, Powered finger Prosthesis”
algorithm has been verified via a number of simulations carried out using
Invited session paper. DSCC2015-9782
different scenarios.
Anton filatov, Colorado School of Mines, Golden, CO, United States,
orientation Control using oscillating Momentum Wheels
ozkan Celik, Colorado School of Mines, XX, CO, United States,
Contributed regular paper. DSCC2015-9924
Richard Weir, University of Colorado Denver, Aurora, CO, United States
Shaoqian Wang, joshua L. evans, T.M. Seigler, University of Kentucky, This paper presents the design and assessment results of two types of
Lexington, KY, United States, Amirhossein Ghasemi, University of Michigan,
Ann Arbor, MI, United States miniature, high speed, low torque transmissions to be used in a partial hand,
powered finger prosthesis. Transmissions enabling torque transfer across
This paper addresses the problem of controlling a rigid body’s orientation by varied flexion angles of a finger joint can allow placement of a motor and a
actuating sinusoidal oscillations of internal momentum wheels. We consider gearbox in adjacent phalanges, significantly decreasing space requirements
the rotational dynamics of a rigid body having three momentum wheels for partial hand prostheses. Bevel gear-based and cable-based transmission
(one for each body-fixed axis) that are attached to the body by springs. Each designs for a variety of flexion angles are implemented and tested in com-
wheel is actuated by an internal sinusoidal torque of fixed frequency. The parison with a direct cascaded motor and gearbox (benchmark) configura-
frequency of all sinusoidal torques is equal, but the amplitudes and phases tion. The miter-gear transmission provided consistent operation at tested
can be varied independently. We analyze the inverse-dynamics problem of flexion angles, but demonstrated reduced efficiency in comparison with
determining the amplitudes and phases for each sinusoidal torque such that the benchmark configuration. Cable transmission matched efficiency of the
a desired orientation is achieved. We then present two closed-loop orienta- benchmark configuration at low flexion angles but lacked mechanical dura-
tion controllers based on this analysis. Numerical simulations demonstrate bility at high loads and flexion angles. The designs presented complemen-
the effectiveness of the control techniques. tary strengths and weaknesses, with the miter-gear design demonstrating
34 better overall mechanical reliability, while the cable transmission excelled in
secondary characteristics.