Abstract In this paper we describe the mechanical design, dynamic modelling, sensing an hardware ... more Abstract In this paper we describe the mechanical design, dynamic modelling, sensing an hardware control architecture of our quadrotor prototype. The prototype is designed as an outdoor autonomous experimental robotics platform. Our designs approach differs from ...
Proceedings of IEEE Systems Man and Cybernetics Conference - SMC, 1993
The dynamic model of a robot manipulator is described by a set of nonlinear, highly coupled diffe... more The dynamic model of a robot manipulator is described by a set of nonlinear, highly coupled differential equations. Linear control schemes (namely PD or PID independent joint controllers) are often used, the manipulator being regarded as a set of linear independent dynamic systems with the nonlinear and coupling effects acting as disturbances. The performance of these simple schemes greatly deteriorates
2013 IEEE/AIAA 32nd Digital Avionics Systems Conference (DASC), 2013
ABSTRACT Flight-Critical Systems (FCS) integrate usually actuators such as Electro Mechanical Act... more ABSTRACT Flight-Critical Systems (FCS) integrate usually actuators such as Electro Mechanical Actuators (EMA) controlled by Electronic Engine Control Units (EECU) or Flight Control Units (FCU). They are designed and developed regarding drastic safety requirements. Material Redundancy is therefore a safe design but requires an important amount of space, weight and costs. In this paper, observer-based fault detection methods are applied to a hybrid stepper motor (HSM) nonlinear model. First, state estimations are processed with an Extended Kalman Filter (EKF). After showing that the model is differentially flat, a nonlinear dynamic inversion (NLDI) is applied to the model in order to find its equivalent linear system. A Standard Kalman Filter (SKF) is then applied for fault detection. Faults due to short-circuits in the stator windings are considered.
Abstract In this paper we describe the mechanical design, dynamic modelling, sensing an hardware ... more Abstract In this paper we describe the mechanical design, dynamic modelling, sensing an hardware control architecture of our quadrotor prototype. The prototype is designed as an outdoor autonomous experimental robotics platform. Our designs approach differs from ...
Proceedings of IEEE Systems Man and Cybernetics Conference - SMC, 1993
The dynamic model of a robot manipulator is described by a set of nonlinear, highly coupled diffe... more The dynamic model of a robot manipulator is described by a set of nonlinear, highly coupled differential equations. Linear control schemes (namely PD or PID independent joint controllers) are often used, the manipulator being regarded as a set of linear independent dynamic systems with the nonlinear and coupling effects acting as disturbances. The performance of these simple schemes greatly deteriorates
2013 IEEE/AIAA 32nd Digital Avionics Systems Conference (DASC), 2013
ABSTRACT Flight-Critical Systems (FCS) integrate usually actuators such as Electro Mechanical Act... more ABSTRACT Flight-Critical Systems (FCS) integrate usually actuators such as Electro Mechanical Actuators (EMA) controlled by Electronic Engine Control Units (EECU) or Flight Control Units (FCU). They are designed and developed regarding drastic safety requirements. Material Redundancy is therefore a safe design but requires an important amount of space, weight and costs. In this paper, observer-based fault detection methods are applied to a hybrid stepper motor (HSM) nonlinear model. First, state estimations are processed with an Extended Kalman Filter (EKF). After showing that the model is differentially flat, a nonlinear dynamic inversion (NLDI) is applied to the model in order to find its equivalent linear system. A Standard Kalman Filter (SKF) is then applied for fault detection. Faults due to short-circuits in the stator windings are considered.
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Papers by Bruno Bluteau