Instructor: Dr. Ing. Kimon P. Valavanis (kimon.valavanis@du.edu)
John Evans Professor, Director, Unmanned Systems Research Institute
University of Denver
Course Summary: The course provides a comprehensive study of unmanned fixed-wing and rotorcraft navigation and control, including a review of kinematics, dynamics and equations of motion, sensors, identification, controller design and implementation, as well as advances in unmanned aviation technology. A very detailed survey of linear, linearized, nonlinear and soft-computing based controller designs are discussed, the main focus being on helicopter navigation and control designs. A comprehensive comparison of advantages and limitations of implemented techniques follows, subsequently introducing a generalized ‘one-fits-all’ flight control system (FCS) in which the specific controller design approach is a plug-in-plug-out module. Implementation details and how to guarantee task execution given strict timing requirements is detailed. Case studies include simulation and experimental results for several prototype UAVs. Prerequisites: Knowledge of control systems is required. However, all required background information will be presented in class.
Schedule: Nov.7th to Nov.11th,2016, 9:00 AM—12:00 noon, 6th floor, Bld# 3 in SCUT.
Intended audience: The course is suitable for advanced M.Sc. and PhD students who conduct research in (linear/nonlinear) control systems, robotics, UAVs, etc.
COURSE OUTLINE
Course modules include:
a. Brief History of Unmanned Aviation
b. Types of Unmanned Aircraft
c. Current state-of-the-art
d. Challenges
a. Fixed-wing aircraft
b. Rotorcraft
a. Derivation of Newton-Euler equations
b. Position and orientation dynamics
c. Derivation of forces and moments
d. Moment of inertia and the inertia tensor
o Definition and types/configurations
o Rotor heads
o Rotorcraft components/subsystems
Rotors
Rotor head and swash plate
Engine
Servos/actuators
Fuselage
Tail stabilizers (vertical and horizontal fins)
Feedback gyro (single-axis yaw and 3D gyro)
o Pilot input mapping to control surfaces
o Forces generated / Aerodynamics
o Equations of motion (EOM)
o State space approach (Linear EOM, Linearized and nonlinear EOM)
o Different flight modes (hover, aggressive, non-aggressive)
o System ID general process
o Parameter vs. Experimental
o Time vs. Frequency
o Frequency response method (Mettler), MOSCA (CMU)
o Parameter based (Alberta)
o Tools for flight testing/data collection
o Simulation tools
i. Model-based, model-free methods
ii. State space explanation
iii. Linearization of EOM
iv. Linear versus nonlinear versus model-free
v. Continuous versus discrete time
vi. Linear systems (PID, LQG/LQR, H-∞, Gain Scheduling, etc.)
vii. Nonlinear systems
viii. Feedback linearization
ix. Backstepping
x. Adaptive/MPC
xi. Controller tuning/optimization
xii. State-space approach
a. Linear/Non-linear
b. From design to implementation and testing
i. (Design, Simulation, Processor-In-the-Loop (PIL), Hardware-In-the-Loop (HIL), Flight testing/implementation
a. Modularity
b. Add-on components (Fault-tolerance, etc.)
c. Timing requirements
o The Coanda effect
o Fundamentals of Circulation Control (CC)
o Designing CC wings (CCWs)
o Designing CCW-based fixed-wing UAVs
o Applications
Course Material
Course material includes: detailed power point presentations; survey papers; copy of eBook.
Download:
1. Intensive Course Syllabus.rar
2. History of UAS-Basics.rar
3. NavCon Technology, Sensors, Comms.rar
4. Unmanned Rotocraft（1）.rar
4. Unmanned Rotocraft（2）.rar
5. Unmanned Fixed-wing.rar
6. CC-UC2AV PART-I.rar
6. CC-UC2AV PART-II.rar
6. CC-UC2AV PART-III.rar
7. Collaborative Robot Teams.rar
