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Kadmiry, Bourhane
Publications (10 of 10) Show all publications
Kadmiry, B. (2005). Fuzzy gain scheduled visual servoing for an unmanned helicopter. (Doctoral dissertation). Linköping: Linköpings universitet
Open this publication in new window or tab >>Fuzzy gain scheduled visual servoing for an unmanned helicopter
2005 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

The overall objective of the Wallenberg Laboratory for Information Technology and Autonomous Systems (WITAS) at Linkoping University is the development of an intelligent command and control system, containing active-vision sensors, which supports the operation of an unmanned air vehicle (UAV). One of the UA V platforms of choice is the R5O unmanned helicopter, by Yamaha.

The present version of the UAV platform is augmented with a camera system. This is enough for performing missions like site mapping, terrain exploration, in which the helicopter motion can be rather slow. But in tracking missions, and obstacle avoidance scenarios, involving high-speed helicopter motion, robust performance for the visual-servoing scheme is desired. Robustness in this case is twofold: 1) w.r.t time delays introduced by the image processing; and 2) w.r.t disturbances, parameter uncertainties and unmodeled dynamics which reflect on the feature position in the image, and the camera pose.

With this goal in mind, we propose to explore the possibilities for the design of fuzzy controllers, achieving stability, robust and minimal-cost performance w.r.t time delays and unstructured uncertainties for image feature tracking, and test a control solution in both simulation and on real camera platforms. Common to both are model-based design by the use of nonlinear control approaches. The performance of these controllers is tested in simulation using the nonlinear geometric model of a pin-hole camera. Then we implement and test the reSUlting controller on the camera platform mounted on the UAV.

Abstract [fr]

Le Laboratoire Wallenberg pour la Technologie Informatique et les Systemes Autonomes (WITAS) de l'Universite de Linköping a pour objectif le developpement de systemes commandes intelligents munis de capteurs de vision active supportant le controle de vehicules aeriens autonomes (UA V). Une des plateformes interessantes pour cette etude est l'helicoptere echelle reduite R501R-Max construit par Yamaha.

La version actuelle de la plateforme volante autonome est munie d'un systeme de vision par camera. Cette configuration est consideree suffisante pour des missions d'extraction de plans de terrains it partir d'images, ou encore d'exploration et de reconnaissance de terrain; situations dans lesquelles la navigation de I'helicoptere ne necessite pas des vitesses extremes. Par contre, dans le cas de scenarii de poursuite ou de contournements d'obstac1es, necessitant des vitesses de reaction plus importantes, une robuste stabilite de l'asservissement visuel est requise. La robustesse dans ce cas ci doit etre verifiee it l'egard de deux aspects: 1) par rapport au delais temporels introduits par le processus de traitement de I 'image; et 2) par rapport aux incertitudes dues l'imperfection du mode le de la camera; relativement it l'estimation des parametres du systeme optique, aux perturbations et it I'imprecision dans la modelisation; ce qui a un impact direct sur la mesure de la position et/ou de la vitesse de I'objet pertinent dans I'image et donc, de I'orientation de la camera.

Ayant ce but en tete, on se propose d'explorer les solutions eventuelles pour la conception de lois de commande par asservissement visuel utilisant les methodes floues. Ainsi on pourra assurer via I'utilisation de methodes analytiques sous-jacentes la stabilite asymptotique et la robustesse it un cOllt minimum de l'asservissement par rapport la poursuite de I'objet dans I'image. On pourra de meme -grace it ces methodes- tester les lois de commande en simulation dans un premier temps, puis les implementer sur la plateforme visuelle reelle afin de confrrmer l'approche theorique. Le cheminement de cette etude se base sur une modelisation du systeme. Le modele propose est non lineaire et le developpement de I'asservissement est donc base sur les concepts de developpement de systemes de controle non lineaires. Les performances de ces asservissements sont verifiees sur le modele geometrique d'une camera en simulation, puis les lois de commande sont implementees et testees sur la plateforme visuelle embarquee dans I'helicoptere.

Place, publisher, year, edition, pages
Linköping: Linköpings universitet, 2005. p. 148
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 938
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-31790 (URN)17614 (Local ID)91-85297-76-3 (ISBN)17614 (Archive number)17614 (OAI)
Public defence
2005-05-31, Visionen, hus B, Campus Valla, Linköpings universitet, Linköping, 10:15 (English)
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2018-01-13Bibliographically approved
Kadmiry, B. & Driankov, D. (2004). A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control. Fuzzy sets and systems (Print), 146(3), 313-347
Open this publication in new window or tab >>A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control
2004 (English)In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, p. 313-347Article in journal (Refereed) Published
Abstract [en]

In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

Place, publisher, year, edition, pages
Elsevier, 2004
Keywords
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, linguistic modelling and control
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-23088 (URN)10.1016/j.fss.2003.07.002 (DOI)2480 (Local ID)2480 (Archive number)2480 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2018-01-13
Kadmiry, B. & Driankov, D. (2004). A fuzzy gain-scheduler for the attitude control of an unmanned helicopter. IEEE transactions on fuzzy systems, 12(4), 502-515
Open this publication in new window or tab >>A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
2004 (English)In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, Vol. 12, no 4, p. 502-515Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved. © 2004 IEEE.

Place, publisher, year, edition, pages
IEEE Computer Society, 2004
Keywords
unmanned helicopter, Takagi-Sugeno fuzzy control, fuzzy gain scheduling, output-feedback fuzzy control
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-45682 (URN)10.1109/TFUZZ.2004.832539 (DOI)
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2017-12-13
Kadmiry, B. & Bergsten, P. (2004). Robust Fuzzy Gain Scheduled visual-servoing with Sampling Time Uncertainties. In: IEEE International Symposium on Intelligent Control ISIC,2004 (pp. 239).
Open this publication in new window or tab >>Robust Fuzzy Gain Scheduled visual-servoing with Sampling Time Uncertainties
2004 (English)In: IEEE International Symposium on Intelligent Control ISIC,2004, 2004, p. 239-Conference paper, Published paper (Refereed)
Abstract [en]

Abstract-This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties in a visual-servoing control scheme. The Takagi-Sugeno (T-S) fuzzy model is adopted for the nonlinear geometric model of a pin-hole camera, which presents second-order nonlinearities. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a multi-objective robust fuzzy controller design is proposed for the uncertain fuzzy system. The sufficient conditions are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated through numerical simulation, then tested on a EVI-D31 SONY camera.

Keywords
Visual-serving, T-S fuzzy gain scheduled control, Linear Matrix Inequalities, sampling time uncertainty, Lyapunov robust stability, LQR guaranteed cost, multi-objective robustness
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-23094 (URN)2490 (Local ID)2490 (Archive number)2490 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2018-01-13
Kadmiry, B. & Driankov, D. (2004). Takagi-Sugeno Fuzzy Gain Scheduling with Sampling-Time Uncertainties. In: IEEE International Conference on Fuzzy Systems Fuzz-IEEE 2004,2004 (pp. 239).
Open this publication in new window or tab >>Takagi-Sugeno Fuzzy Gain Scheduling with Sampling-Time Uncertainties
2004 (English)In: IEEE International Conference on Fuzzy Systems Fuzz-IEEE 2004,2004, 2004, p. 239-Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem

Keywords
Visual-serving, T-S fuzzy gain scheduled control, Linear Matrix Inequalities, sampling time uncertainty, Lyapunov robust stability, LQR guaranteed cost, multi-objective robustness
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-23082 (URN)2474 (Local ID)2474 (Archive number)2474 (OAI)
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2018-01-13
Kadmiry, B. (2002). Fuzzy Control for an Unmanned Helicopter. (Licentiate dissertation). : Institutionen för datavetenskap
Open this publication in new window or tab >>Fuzzy Control for an Unmanned Helicopter
2002 (English)Licentiate thesis, monograph (Other academic)
Abstract [en]

The overall objective of the Wallenberg Laboratory for Information Technology and Autonomous Systems (WITAS) at Linköping University is the development of an intelligent command and control system, containing vision sensors, which supports the operation of a unmanned air vehicle (UAV) in both semi- and full-autonomy modes. One of the UAV platforms of choice is the APID-MK3 unmanned helicopter, by Scandicraft Systems AB. The intended operational environment is over widely varying geographical terrain with traffic networks and vehicle interaction of variable complexity, speed, and density.

The present version of APID-MK3 is capable of autonomous take-off, landing, and hovering as well as of autonomously executing pre-defined, point-to-point flight where the latter is executed at low-speed. This is enough for performing missions like site mapping and surveillance, and communications, but for the above mentioned operational environment higher speeds are desired. In this context, the goal of this thesis is to explore the possibilities for achieving stable ‘‘aggressive’’ manoeuvrability at high-speeds, and test a variety of control solutions in the APID-MK3 simulation environment.

The objective of achieving ‘‘aggressive’’ manoeuvrability concerns the design of attitude/velocity/position controllers which act on much larger ranges of the body attitude angles, by utilizing the full range of the rotor attitude angles. In this context, a flight controller should achieve tracking of curvilinear trajectories at relatively high speeds in a robust, w.r.t. external disturbances, manner. Take-off and landing are not considered here since APIDMK3 has already have dedicated control modules that realize these flight modes.

With this goal in mind, we present the design of two different types of flight controllers: a fuzzy controller and a gradient descent method based controller. Common to both are model based design, the use of nonlinear control approaches, and an inner- and outer-loop control scheme. The performance of these controllers is tested in simulation using the nonlinear model of APID-MK3.

Place, publisher, year, edition, pages
Institutionen för datavetenskap, 2002. p. 108
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 938
Keywords
Helicopter, Robust control, Fuzzy gain scheduling, Gradient descent method
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-5723 (URN)91-7373-313-X (ISBN)
Presentation
2002-05-16, 00:00 (English)
Supervisors
Note
Report code: LiU-Tek-Lic-2002:11. The format of the electronic version of this thesis differs slightly from the printed one: this is due mainly to font compatibility. The figures and body of the thesis are remaining unchanged.Available from: 2003-11-20 Created: 2003-11-20 Last updated: 2018-01-13
Kadmiry, B., Bergsten, P. & Driankov, D. (2001). Autonomous Helicopter Control Using Fuzzy-Gain Scheduling. In: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA): . Paper presented at 2001 IEEE International Conference on Robotics and Automation, 21-26 May 2001, Seoul, South Korea (pp. 2980-2985). IEEE, 3
Open this publication in new window or tab >>Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
2001 (English)In: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA), IEEE , 2001, Vol. 3, p. 2980-2985Conference paper, Published paper (Refereed)
Abstract [en]

The work reported in the paper is aimed at achieving aggressive manoeuvrability for an unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The manoeuvrability problem is treated at the level of attitude (pitch, roll, yaw) and the aim is to achieve stabilization of the attitude angles within much larger ranges than currently available. We present a fuzzy gain scheduling control approach based on two different types of Iinearization of the original nonlinear APID MK-III model. The performance of the fuzzy gain scheduled controllers is evaluated in simulation and shows that they are effective means for achieving the desired robust manoeuvrability.

Place, publisher, year, edition, pages
IEEE, 2001
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60030 (URN)10.1109/ROBOT.2001.933074 (DOI)0-7803-6576-3 (ISBN)
Conference
2001 IEEE International Conference on Robotics and Automation, 21-26 May 2001, Seoul, South Korea
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2015-05-08
Kadmiry, B., Palm, R. & Driankov, D. (2001). Autonomous Helicopter Control Using Gradient Descent Optimization Method. In: Proceedings of the Asian Conference on Robotic & Automation (ACRA): . Paper presented at 4th Asian Conference on Robotics and its Applications (ACRA 2001), 6-8 June 2001, Singapore.
Open this publication in new window or tab >>Autonomous Helicopter Control Using Gradient Descent Optimization Method
2001 (English)In: Proceedings of the Asian Conference on Robotic & Automation (ACRA), 2001Conference paper, Published paper (Refereed)
Abstract [en]

The work reported in this paper is aimed at designing a velocityyaltitude and position controllers for the unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The controllers are able of regulating high velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: rst, a gradient descent optimization method i s u s e d t o c ompute for each desired horizontal velocityyaltitude or position the corresponding desired values for the attitude angles and the main rotor col-lective pitch; second, a linear control scheme is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocity at the desired altitude, or its desired position. The performance of the controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose.

National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60031 (URN)
Conference
4th Asian Conference on Robotics and its Applications (ACRA 2001), 6-8 June 2001, Singapore
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2015-05-08
Kadmiry, B. & Driankov, D. (2001). Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control. In: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC): . Paper presented at 2001 IEEE International Symposium on Intelligent Control, 5-7 September 2001, Mexico City, Mexico (pp. 348-352). IEEE
Open this publication in new window or tab >>Autonomous Helicopter Control using Linguistic and Model-Based Fuzzy Control
2001 (English)In: Proceedings of the IEEE International Symposium on Intelligent Control (CCA/ISIC), IEEE , 2001, p. 348-352Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose

Place, publisher, year, edition, pages
IEEE, 2001
Keywords
aircraft control, attitude control, fuzzy control, helicopters, nonlinear systems, velocity control
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60028 (URN)10.1109/ISIC.2001.971534 (DOI)0-7803-6722-7 (ISBN)
Conference
2001 IEEE International Symposium on Intelligent Control, 5-7 September 2001, Mexico City, Mexico
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2015-05-25
Kadmiry, B. & Driankov, D. (2001). Fuzzy Control of an Autonomous Helicopter. In: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress (pp. 2797-2802). IEEE Computer Society
Open this publication in new window or tab >>Fuzzy Control of an Autonomous Helicopter
2001 (English)In: Proceedings of the 9th IEEE International Fuzzy Systems Association (IFSA) World Congress, IEEE Computer Society , 2001, p. 2797-2802Conference paper, Published paper (Refereed)
Abstract [en]

This work presents a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: 1) Mamdani-type of fuzzy rules to compute each of the desired horizontal velocity corresponding to the desired values for the attitude angles and the main rotor collective pitch; and 2) a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. The performance of the combined linguistic/model-based controller is evaluated in simulation and shows that the proposed design method achieves its intended purpose

Place, publisher, year, edition, pages
IEEE Computer Society, 2001
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-60029 (URN)10.1109/NAFIPS.2001.943669 (DOI)0-7803-7078-3 (ISBN)
Available from: 2010-10-04 Created: 2010-10-04 Last updated: 2011-03-03
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