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Dynamic modelling using NewtonEuler formalism.
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Dynamic modelling using Newton-Euler formalism. Model analysis for better understanding ... Concept optimization in order to master the natural instability of ... – PowerPoint PPT presentation
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Title: Dynamic modelling using NewtonEuler formalism.
1
OS4 VTOL Miniature Flying Robots
Swiss Federal Institute of Technology (EPFL) -
Autonomous Systems Laboratory (ASL)
- NAME
- OS4 VTOL Miniature Flying Robots
- Motivations
- The scientific challenge in micro VTOL design
and control in cluttered environments. - The lack of the actual solutions.
- The important field of applications.
- Project Summary
- The OS4 project focuses on micro VTOL vehicles
evolving towards a full autonomy in cluttered
environments. The long term goal is to allow
autonomous navigation using various concepts. The
approach advocated for this project is to
simultaneously work on the design and the
control. This makes it possible to simplify the
control by design changes and vice-versa. - Expected Contributions
- Finding the best control strategies for some
specific micro VTOLs. - Achieving a maximum autonomy by a design and
control optimization.
2. Experiments
- Approach
- Dynamic modelling using Newton-Euler formalism.
- Model analysis for better understanding of this
particular configuration. - Concept optimization in order to master the
natural instability of the system. - Control strategy development inspired by the
model analysis and using several approaches like
Lyapunov based control. - Hardware development of some specific sensors
and electronic modules. - System implementation.
- Tests and validation.
Vertical Take Off and Landing.
Omnidirectional Stationary Flying OUtstretched
Robot.
Autonomous Systems Lab http//asl.epfl.ch
INSTITUT DINGÉNIERIE DES SYSTÈMES SCIENCES ET
TECHNIQUES DE LINGENIEUR
- Samir Bouabdallah (samir.bouabdallah_at__at_epfl.ch)
- Roland Siegwart (roland.siegwart_at_epfl.ch)
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