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University of Patras
Laboratory of
Automation & Robotics
ETH Zurich
Autonomous
Systems Lab
Christos Papachristos Kostas Alexis
University of Patras
Laboratory of
Automation & Robotics
Anthony Tzes
C. Papachristos, K. Alexis, A. Tzes
C. Papachristos, K. Alexis, A. Tzes
The multitude & increased demands of modern applications impose
the design of specialized vehicles
Monitoring & Surveillance
 Monitoring of wildfire breakouts
 over forested areas
 Continuous & uninhibited monitoring
 in populated areas
 Border interdiction detection
Assistance provision
 Missions in hazardous locations
 (e.g. Nuclear Reactors inspection)
 Search & Assist missions
 Aerial Photography & Mapping
 for Civilian & Civil Engineering
 Applications
C. Papachristos, K. Alexis, A. Tzes
Reconfigurable Aircraft
for
Flight-Mode Conversion
Fixed-Wing Aircraft
 High-Speed Flight
 Endurance
VTOL Rotorcraft
 Vertical Flight
 High-Precision
Maneuvers
C. Papachristos, K. Alexis, A. Tzes
Rigid-Body Dynamics
Newton-Euler Formulation
Roll
Pitch
Yaw
Longitudinal
Lateral
Vertical
Actuation Subsystem Dynamics
–
Frequency Domain Identification
Augmented Linear Model around Hovering
Compact Representation of Rigid-Body + Actuator Dynamics
Generalized Hovering Operating Point
Actuators Control Inputs
Rigid-Body States (Rotation & Translation)
Actuator States (Rotors Thrust & Angles)
C. Papachristos, K. Alexis, A. Tzes
 1.6 GHz Atom MCU
 Cortex-M3 ARM
 100 Hz AHRS
 Sonar
 Optic Flow Camera
 Rotor RPM Encoders
 High-Update Rate ESCs
 800 W Main Motors
 High-Torque Servos
 Ubuntu Linux OS
 Matlab Real-Time
 Workshop
 OpenCV
Specifications
Software
Mechanical
 CAD-based Design
C. Papachristos, K. Alexis, A. Tzes
State Estimation – Control Computation – Communications
Control Computation
AHRS
Measurements
Low-Level Interfacing
Almost Real-Time
Execution Control
Wireless
Communications
Vision - Optical Flow
Camera Model-based
Rotation-Compensated
Translational States Estimation
Optical Flow + IMU
C. Papachristos, K. Alexis, A. Tzes
Attitude Controller: Gain-Scheduled P-D-dD
Roll Tracking Response
&
FD-Identified Closed-Loop Roll Model
Translation Controller: Constrained Model Predictive Control
State, State setpoint
Control Input Move Input, Input
Setpoint
Gain Scheduling provides
Improved Tracking Response
Without Violating Constraints:
State & Control Input Constraints
accounting for limitations based on
dynamics & mechanical limitations
of the UAV (i.e. Adverse Reaction
Moment during Rotor-Tilting)
C. Papachristos, K. Alexis, A. Tzes
Translation External DisturbanceTranslation Step Reference
3D-Trajectories
C. Papachristos, K. Alexis, A. Tzes
Hovering Setpoint
Go-and-Return
Maneuvers
Z – step
Y – step
X – step
By employing Rotor-
Tilting
Faster Longitudinal
Dynamics
are Achieved
Video Results corresponding to Illustrated Datasets
C. Papachristos, K. Alexis, A. Tzes
Current Work: Exploitation of Yet-Unexplored Capabilities of Reconfigurable UAVs
Mock-Up: Desired UAV Path: Heavy Obstacle Blocking Doorway Entrance
Rotor-Tilting
gives
Full Longitudinal
Actuation
C. Papachristos, K. Alexis, A. Tzes
Push
Heavy Obstacle
(5kg)
Aside
Christos Papachristos
papachric@ece.upatras.gr
Kostas Alexis
konstantinos.alexis@mavt.ethz.ch
Anthony Tzes
tzes@ece.upatras.gr
C. Papachristos, K. Alexis, A. Tzes

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ICRA 2013 Tilt-TriRotor

  • 1. University of Patras Laboratory of Automation & Robotics ETH Zurich Autonomous Systems Lab Christos Papachristos Kostas Alexis University of Patras Laboratory of Automation & Robotics Anthony Tzes C. Papachristos, K. Alexis, A. Tzes
  • 2. C. Papachristos, K. Alexis, A. Tzes
  • 3. The multitude & increased demands of modern applications impose the design of specialized vehicles Monitoring & Surveillance  Monitoring of wildfire breakouts  over forested areas  Continuous & uninhibited monitoring  in populated areas  Border interdiction detection Assistance provision  Missions in hazardous locations  (e.g. Nuclear Reactors inspection)  Search & Assist missions  Aerial Photography & Mapping  for Civilian & Civil Engineering  Applications C. Papachristos, K. Alexis, A. Tzes
  • 4. Reconfigurable Aircraft for Flight-Mode Conversion Fixed-Wing Aircraft  High-Speed Flight  Endurance VTOL Rotorcraft  Vertical Flight  High-Precision Maneuvers C. Papachristos, K. Alexis, A. Tzes
  • 5. Rigid-Body Dynamics Newton-Euler Formulation Roll Pitch Yaw Longitudinal Lateral Vertical Actuation Subsystem Dynamics – Frequency Domain Identification Augmented Linear Model around Hovering Compact Representation of Rigid-Body + Actuator Dynamics Generalized Hovering Operating Point Actuators Control Inputs Rigid-Body States (Rotation & Translation) Actuator States (Rotors Thrust & Angles) C. Papachristos, K. Alexis, A. Tzes
  • 6.  1.6 GHz Atom MCU  Cortex-M3 ARM  100 Hz AHRS  Sonar  Optic Flow Camera  Rotor RPM Encoders  High-Update Rate ESCs  800 W Main Motors  High-Torque Servos  Ubuntu Linux OS  Matlab Real-Time  Workshop  OpenCV Specifications Software Mechanical  CAD-based Design C. Papachristos, K. Alexis, A. Tzes
  • 7. State Estimation – Control Computation – Communications Control Computation AHRS Measurements Low-Level Interfacing Almost Real-Time Execution Control Wireless Communications Vision - Optical Flow Camera Model-based Rotation-Compensated Translational States Estimation Optical Flow + IMU C. Papachristos, K. Alexis, A. Tzes
  • 8. Attitude Controller: Gain-Scheduled P-D-dD Roll Tracking Response & FD-Identified Closed-Loop Roll Model Translation Controller: Constrained Model Predictive Control State, State setpoint Control Input Move Input, Input Setpoint Gain Scheduling provides Improved Tracking Response Without Violating Constraints: State & Control Input Constraints accounting for limitations based on dynamics & mechanical limitations of the UAV (i.e. Adverse Reaction Moment during Rotor-Tilting) C. Papachristos, K. Alexis, A. Tzes
  • 9. Translation External DisturbanceTranslation Step Reference 3D-Trajectories C. Papachristos, K. Alexis, A. Tzes
  • 10. Hovering Setpoint Go-and-Return Maneuvers Z – step Y – step X – step By employing Rotor- Tilting Faster Longitudinal Dynamics are Achieved Video Results corresponding to Illustrated Datasets C. Papachristos, K. Alexis, A. Tzes
  • 11. Current Work: Exploitation of Yet-Unexplored Capabilities of Reconfigurable UAVs Mock-Up: Desired UAV Path: Heavy Obstacle Blocking Doorway Entrance Rotor-Tilting gives Full Longitudinal Actuation C. Papachristos, K. Alexis, A. Tzes Push Heavy Obstacle (5kg) Aside