Department Publications

This paper presents modelling, simulation and implementation of a quadrotor Unmanned Ariel Vehicle (UAV) Focus of this work is to gain in-depth understanding of quadrotor dynamics to develop a simulator and a laboratory platform to facilitate future development of control algorithms, automatic navigation systems, and trajectory planning for quadrotors. Quadrotor dynamics is modeled using Newton-Euler method. The model predicts the effects of the forces and torques generated by the four propellers on the quadrotor motion. Based on the model, a quadrotor simulator was developed in MATLAB® Simulink, on which various control algorithms can be developed and tested. A quadrotor prototype was built on which some of the control algorithms were tested experimentally in different environments to evaluate the stability and controllability of the platform. Experimental flight data and simulation results were …

Congestion in a networked control system (NCS) has many undesirable effects that can make a control system unstable if severe enough. These include delays and packet drops. Therefore, reducing network traffic, including traffic generated by the NCS itself is a necessity. In event based control (EBC) a control signal is generated when a specific event is triggered such as the control error exceeding a predetermined threshold. When the rate of change of a variable is bounded, event triggering reduces the effective frequency in which control signals have to be generated when compared to a system with periodic sampling. This paper proposes a new method of event triggering called event triggered adaptive differential modulation (ETADM) that combines the bandwidth reduction strategies of event triggering and human speech coding techniques. The proposed method can be applied to nonlinear systems with a …