RONIHM: Non-Inertial Robotics and Human-Machine Interfaces
ResearchPUBLICATIONS
This is the list of publications of this laboratory
Oliva-Palomo, F.; Sanchez-Orta, Anand; Alazki, Hussain Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor Journal Article In: 2016. Sanchez-Orta, Anand; Parra-Vega, Vicente; Izaguirre-Espinosa, Carlos; Garcia, Octavio Position–Yaw Tracking of Quadrotors Journal Article In: Journal of Dynamic Systems, Measurement, vol. 137, 2014, ISSN: 002-0434. Martinez-Alvarado, Ricardo; Ruiz-Sanchez, Francisco J.; Sanchez-Orta, Anand; Garcia-Salazar, Octavio Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque Proceedings Article In: Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque, pp. 1-6, iee international autumn meeting on power, electronics and computing 2014, ISBN: 978-1-4799-5683-8.2016
Journal Articles
@article{Oliva-Palomo2016,
title = {Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor},
author = {Oliva-Palomo, F. and Sanchez-Orta, Anand and Alazki, Hussain},
year = {2016},
date = {2016-07-15},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2014
Journal Articles
@article{Sanchez-Orta2014,
title = {Position\textendashYaw Tracking of Quadrotors},
author = {Sanchez-Orta, Anand and Parra-Vega, Vicente and Izaguirre-Espinosa, Carlos and Garcia, Octavio},
url = {http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2088643#Abstract},
doi = {10.1115/1.4029464},
issn = {002-0434},
year = {2014},
date = {2014-12-19},
issuetitle = {Position-Yaw Tracking of Quadrotors},
journal = {Journal of Dynamic Systems, Measurement},
volume = {137},
abstract = {A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that the position control problem of quadrotors is studied generally regulating yaw at zero. However, zeroing yaw limits the maneuverability of underactuated quadrotors because yaw is one of the four actuated motions. In this paper, the simultaneous tracking of position and time-varying heading is proposed, based on an integral sliding mode control with a quaternion-based sliding surface. An exponential tracking with chattering-free is obtained without requiring any knowledge of the dynamic model or its parameters for implementation. Since a linear invariant orientation error manifold is enforced for all time, a time-varying gain is introduced for a well-posed finite time convergence, which is useful not only to realize the virtual position control scheme, due to underactuation, but also to guarantee a desired contact in a given point at a given desired contact time for the yaw motion. Illustrative applications are explored in a simulation study which shows the viability and versatility of position\textendashyaw tracking in the surveillance of a field-of-view (FoV) target, aerial screw driver, and aerial grasping.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Proceedings Articles
@inproceedings{Martinez-Alvarado2014b,
title = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},
author = {Martinez-Alvarado, Ricardo and Ruiz-Sanchez, Francisco J. and Sanchez-Orta, Anand and Garcia-Salazar, Octavio},
url = {https://www.researchgate.net/publication/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque},
doi = {10.1109/ROPEC.2014.7036341},
isbn = {978-1-4799-5683-8},
year = {2014},
date = {2014-01-01},
booktitle = {Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque},
pages = {1-6},
organization = {iee international autumn meeting on power, electronics and computing},
abstract = {In multi-rotor UAVs, a controlled Thrust is a main factor to achieve a safe and stable flight. Thrust is the result of a coordinated action of a set of symmetrically distributed thrusters whose single contribution is usually described as a square function of its rotor speed; however, aerodynamic forces induce a load torque on the rotor that disturb its expected speed response, thus its effective Thrust, affecting the whole performance of the aircraft. In this paper, we analyse and quantify the effects of the aerodynamic load torque induced on the spinning propeller of a BLDC thruster used in small scale Quadrotors and present some experimental validation. We describe the model of a 3-phase thruster with a two blade propeller of fixed pitch angle, we analyse its numerical simulation to determine the effects of the induced load torque on the dynamic response of the rotor, and we experimentally verify the results assuming ideal conditions of hover flight. Finally we illustrate the convenience of using feedback control to reduce the sensibility of thrusters face to non modelled dynamics applying a PD controller and we discuss about the importance of an accurate dynamic model of the thruster for control purposes.
Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https://www.researchgate.net/publication/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Dynamic Response of BLDC-Thruster for Small Scale Quadrotors under Aerodynamic Load Torque (PDF Download Available). Available from: https://www.researchgate.net/publication/276958535_Dynamic_Response_of_BLDC-Thruster_for_Small_Scale_Quadrotors_under_Aerodynamic_Load_Torque [accessed Jun 16, 2017].