Lighter than Air Robots Guidance and Control of Autonomous Airships /

• Κύριος συγγραφέας: Bestaoui Sebbane, Yasmina (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Dordrecht : Springer Netherlands : Imprint: Springer, 2012.
• Σειρά: Intelligent Systems, Control and Automation: Science and Engineering, 58
• Θέματα: Engineering.; Computers.; Aerospace engineering.; Astronautics.; Robotics.; Automation.; Robotics and Automation.; Information Systems and Communication Service.; Aerospace Technology and Astronautics.

An aerial robot is a system capable of sustained flight with no direct human control and able to perform a specific task. A lighter than air robot is an aerial robot that relies on the static lift to balance its own weight. It can also be defined as a lighter than air unmanned aerial vehicle or an u...

Πίνακας περιεχομένων:

• 1 Introduction
•  1.1 Aerial robotics
•  1.2 Outline of the book
•  2 Modeling
•  2.1 Introduction
•  2.2 Kinematics
•  2.2.1 Euler angles
•  2.2.2 Euler parameters
•  2.3 Dynamics
•  2.3.1 Mass Characteristics
•  2.3.2 6 DOF Dynamics : Newton-Euler Approach
•  2.3.3 6 DOF Dynamics : Lagrange Approach
•  2.3.4 Translational Dynamics .
•  2.4 Aerology Characteristics
•  2.4.1 Wind Profile
•  2.4.2 Down burst
•  2.5 Conclusions
•  3 Mission Planning
•  3.1 Introduction
•  3.2 Flight Planning
•  3.3 Motion Planning Algorithms Review
•  3.3.1 Overall Problem description
•  3.3.2 Problem Types
•  3.4 Planning with differential constraints
•  3.4.1 Roadmap algorithm
•  3.4.2 Artificial Potential Methods
•  3.4.3 Sampling based trajectory planning
•  3.4.4 Decoupled Trajectory Planning
•  3.4.5 The Finite State Motion Model: The Maneuver Automaton
•  3.4.6 Mathematical Programming
•  3.4.7 Receding Horizon Control
•  3.4.8 Reactive Planning
•  3.4.9 Probabilistic Roadmap Methods: PRM
•  3.4.10 Rapidly Expanding Random Tree (RRT)
•  3.4.11 Guided Expansive Search Trees
•  3.5 Planning with Uncertain Winds
•  3.5.1 Receding Horizon Approach
•  3.5.2 Markov Decision Process Approach
•  3.5.3 Chance constrained predictive control under stochastic uncertainty
•  3.6 Planning in Strong Winds
•  3.7 Task Assignment
•  3.8 Conclusions
•  4.1 Introduction
•  4.2 Trajectory Generation in Hover
•  4.2.1 Trim Trajectories
•  4.2.2 Under-actuation at Hover
•  4.3 Lateral planning in cruising flight
•  4.3.1 Lateral dynamics of the lighter than air robot
•  4.3.2 Time Optimal Extremals
•  4.4 Zermelo Navigation Problem
•  4.4.1 Navigation equation
•  4.4.2 One particular solution
•  4.5 3D Trajectory design with wind
•  4.5.1 Determination of the Reference Controls
•  4.5.2 Accessibility and Controllability
•  4.5.3 Motion Planning when wind can be neglected
•  4.5.4 Determination of the Minimum Energy Trajectories
•  4.5.5 Determination of Time Optimal Trajectories
•  4.6 Parametric Curves
•  4.6.1 Cartesian polynomials
•  4.6.2 Trim Flight Paths
•  4.6.3 Non Trim Flight Paths
•  4.6.4 Maneuvers between two different trims
•  4.6.5 Frenet -Serret Approach
•  4.6.6 Pythagorean Hodograph
•  4.6.7 h3 Splines
•  4.7 Conclusions
•  5 Control
•  5.1 Introduction
•  5.2 Linear Control
•  5.2.1 Linear Formulation in Cruising flight
•  5.2.2 Flying and Handling Qualities
•  5.2.3 Classical Linear Control
•  5.2.4 Linear Robust Control
•  5.3 Nonlinear Control
•  5.3.1 Dynamic Inversion
•  5.3.2 Trajectory Tracking in a High Constant Altitude Flight
•  5.3.3 Variable Structure Robust Control
•  5.3.4 Back stepping controller design
•  5.3.5 Line tracking by path curvature and torsion
•  5.3.6 Intelligent Control
•  5.4 System Health Management
•  5.4.1 Health Monitoring
•  5.4.2 Diagnosis, Response to systems failure
•  5.5 Conclusions
•  6 General Conclusions
•  7 References
•  References
•  A Current Projects
•  A.1 Introduction
•  A.2 Artic Airship
•  A.2.1 Vehicle Description
•  A.2.2 Weight, mass distribution and balance
•  A.2.3 Modeling and identification
•  A.2.4 Aerodynamics
•  A.2.5 Localization and positioning
•  A.2.6 Navigation and Path Planner
•  A.2.7 Feeding the path planner with realistic wind information
•  A.2.8 Data processing and transmission
•  A.2.9 Airship Piloting and Response to wind disturbances
•  A.2.10 Loading and unloading lifts
•  A.2.11 Diagnosis, Response to systems failure
•  A.2.12 Flight dynamics simulator
•  A.2.13 Small scale delta-wing quad-rotor airship
•  A.2.14 Ground handling
•  A.3 Bridge Monitoring
•  A.4 Monitoring of high voltage power networks
•  A.4.1 Current market for inspection of electrical networks
•  A.4.2 Project Goals
•  A.5 FAA Recommendations
•  A.6 Indoor Lighter Than Air Robot : A Differential Geometry Modeling Approach
•  Index.