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Abichou Azgal - One of the best experts on this subject based on the ideXlab platform.

  • Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship
    IEEE, 2019
    Co-Authors: Abdallah, Fida Ben, Azouz Naoufel, Beji Lotfi, Abichou Azgal
    Abstract:

    International audienceIn this paper we present a study of the dynamics and control of a six degree of freedom platform suspended via driven cables under an Airship. Associating Airship and cable driven parallel manipulator, this new design offers novel possibilities for cargo Airship to load and unload cargo without landing. The vertical take-off and landing capabilities of the Airships give them an additional advantage over other means of transporting heavy loads. In this work, a robust sliding mode control, capable of auto-piloting and controlling the suspended platform, is developed. Besides, the dynamic model of suspended platform must be clarified before designing a controller. The feature of the proposed control system is that the unknown disturbance terms of the Airship motion in the suspended platform dynamic are explicitly incorporated into control system design without any simplifying assumption. Furthermore, numerical simulation results are presented and a stability analysis is provided to confirm the accuracy of our derivations

Azgal Abichou - One of the best experts on this subject based on the ideXlab platform.

  • Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship
    2019
    Co-Authors: Fida Ben Abdallah, Lotfi Beji, Naoufel Azouz, Azgal Abichou
    Abstract:

    In this paper we present a study of the dynamics and control of a six degree of freedom platform suspended via driven cables under an Airship. Associating Airship and cable driven parallel manipulator, this new design offers novel possibilities for cargo Airship to load and unload cargo without landing. The vertical take-off and landing capabilities of the Airships give them an additional advantage over other means of transporting heavy loads. In this work, a robust sliding mode control, capable of auto-piloting and controlling the suspended platform, is developed. Besides, the dynamic model of suspended platform must be clarified before designing a controller. The feature of the proposed control system is that the unknown disturbance terms of the Airship motion in the suspended platform dynamic are explicitly incorporated into control system design without any simplifying assumption. Furthermore, numerical simulation results are presented and a stability analysis is provided to confirm the accuracy of our derivations.

  • Modeling and control of an Airship-mounted crane for freight transportation
    2018
    Co-Authors: Fida Ben Abdallah, Salim Hima, Lotfi Beji, Naoufel Azouz, Azgal Abichou
    Abstract:

    In this paper we present a study of the dynamics and control of a heavy-lift Airship carrying a payload through an overhead crane. To the best of our knowledge, we are pioneer in this field. The Airship carrying a payload is assimilated to a flying crane. Intrinsically more stable than other platforms, Airships can fly at very low speeds or even hover, showing a slow degradation in case of a system's failure. Unfortunately, the pendulum-like behaviour of suspended load alters the flight characteristics of the Airship, especially when the load is heavy relative to the weight of the Airship. These unfavorable factors bring about many challenges for the design of effective control schemes. In this work, the dynamic model of heavy lift Airship is developed. Furthermore, a nonlinear control law is constructed to ensure system stability. Theoretical results are discussed in this paper and computer simulation are presented.

  • Modeling and stabilization of a cable-driven parallel platform suspended by an Airship
    2017
    Co-Authors: Fida Ben Abdallah, Lotfi Beji, Naoufel Azouz, Azgal Abichou
    Abstract:

    In this work, the modeling and control of a heavy-lift Airship carrying a payload through a cable driven parallel manipulator were investigated. The vertical take-off and landing capabilities of the Airships give them an additional advantage over other means of freight transport. This crane Airship will operate as a mobile cable robot. However, during loading and unloading, the Airship is very sensitive to wind gusts. Its motion will have a significant inertial impact on the load. In this study we will try to present a strategy to stabilize the load in the presence of a sudden shift in the Airship. The dynamic model of the system is then developed taking into account the Airship motion which was considered as a disturbance. This model is used to design an anti sway controller that reduces the effect of payload pendulation while respecting constraints on cables tension. Theoretical results are discussed in this paper and computer simulation are presented.

  • Modeling and Actuators Design of an Unconventional Airship
    Volume 4A: Dynamics Vibration and Control, 2015
    Co-Authors: Mahmoud Khamlia, Selima Bennaceur, Sarra Samaali, Azgal Abichou, Naoufel Azouz, Jean Lerbet
    Abstract:

    This paper presents a dynamic modeling of a quadrotor flying wing Airship. This Airship is a scale model of Airships dedicated for freight transport. It is equipped with steerable thrusters that made over-actuated. A control strategy based on the linearization of the local equation and the use of backstepping control is applied to this model. We made a focus on the relations between the control vectors obtained from the control strategy and the response of the Airship actuators.Numerical results show the benefits of the proposed algorithm.Copyright © 2015 by ASME

  • Modeling and actuators design of an unconventional Airship
    2015
    Co-Authors: Mahmoud Khamlia, Selima Bennaceur, Sarra Samaali, Azgal Abichou, Naoufel Azouz, Jean Lerbet
    Abstract:

    This paper presents a dynamic modeling of a quadrotor flying wing Airship. This Airship is a scale model of Airships dedicated for freight transport. It is equipped with steerable thrusters that made over-actuated. A control strategy based on the linearization of the local equation and the use of backstepping control is applied to this model. We made a focus on the relations between the control vectors obtained from the control strategy and the response of the Airship actuators. Numerical results show the benefits of the proposed algorithm.

Abdallah, Fida Ben - One of the best experts on this subject based on the ideXlab platform.

  • Dynamic Analysis and Control of a Flying Cable Driven Parallel Manipulator Mounted on an Airship
    IEEE, 2019
    Co-Authors: Abdallah, Fida Ben, Azouz Naoufel, Beji Lotfi, Abichou Azgal
    Abstract:

    International audienceIn this paper we present a study of the dynamics and control of a six degree of freedom platform suspended via driven cables under an Airship. Associating Airship and cable driven parallel manipulator, this new design offers novel possibilities for cargo Airship to load and unload cargo without landing. The vertical take-off and landing capabilities of the Airships give them an additional advantage over other means of transporting heavy loads. In this work, a robust sliding mode control, capable of auto-piloting and controlling the suspended platform, is developed. Besides, the dynamic model of suspended platform must be clarified before designing a controller. The feature of the proposed control system is that the unknown disturbance terms of the Airship motion in the suspended platform dynamic are explicitly incorporated into control system design without any simplifying assumption. Furthermore, numerical simulation results are presented and a stability analysis is provided to confirm the accuracy of our derivations

Josue J G Ramos - One of the best experts on this subject based on the ideXlab platform.

  • project aurora infrastructure and flight control experiments for a robotic Airship
    Journal of Field Robotics, 2006
    Co-Authors: Ely Carneiro De Paiva, José Raul Azinheira, Josue J G Ramos, Alexandra Moutinho, S S Bueno
    Abstract:

    Project AURORA aims at the development of unmanned robotic Airships capable of autonomous flight over user-defined locations for aerial inspection and environmental monitoring missions. In this article, the authors report a successful control and navigation scheme for a robotic Airship flight path following. First, the AURORA Airship, software environment, onboard system, and ground station infrastructures are described. Then, two main approaches for the automatic control and navigation system of the Airship are presented. The first one shows the design of dedicated controllers based on the linearized dynamics of the vehicle. Following this methodology, experimental results for the Airship flight path following through a set of predefined points in latitude/longitude, along with automatic altitude control are presented. A second approach considers the design of a single global nonlinear control scheme, covering all of the aerodynamic operational range in a sole formulation. Nonlinear control solutions under investigation for the AURORA Airship are briefly described, along with some preliminary simulation results. © 2006 Wiley Periodicals, Inc.

  • development of a vrml java unmanned Airship simulating environment
    Intelligent Robots and Systems, 1999
    Co-Authors: Josue J G Ramos, Marcel Bergerman, S S Bueno, Silvio M Maeta, Luiz G B Mirisola, A Bruciapaglia
    Abstract:

    We present one of the first Internet-accessible Airship simulators, based on a comprehensive Airship dynamic model. The simulator is meant to be used as a tool for the development of control and navigation methods for autonomous and semi-autonomous robotic Airships and as testbed for Airship pilot training. Realistic views of both the Airship in flight and that of a virtual pilot are provided, as are commands to apply thrust to the engines, swivel them up and down, and deflect the control surfaces. This work is significant for providing robotics researchers with means to safely experiment with Airship control.

  • a semi autonomous robotic Airship for environmental monitoring missions
    International Conference on Robotics and Automation, 1998
    Co-Authors: Alberto Elfes, Marcel Bergerman, S S Bueno, Josue J G Ramos
    Abstract:

    This paper discusses Project AURORA (autonomous unmanned remote monitoring robotic Airship) which focuses on the development of the control, navigation, sensing, and inference technologies required for substantially autonomous robotic Airships. Our target application areas include the use of robotic Airships for environmental, biodiversity, and climate research and monitoring. Based on typical mission requirements, we present arguments that favour Airships over airplanes and helicopters as the ideal platforms for such missions. We outline the overall system architecture of the AURORA robotic Airship, discuss its main subsystems, and mention the research and development issues involved.

  • Airship dynamic modeling for autonomous operation
    International Conference on Robotics and Automation, 1998
    Co-Authors: S B V Gomes, Josue J G Ramos
    Abstract:

    We present a comprehensive description of the physical principles of robotic Airship operation, along with their dynamic model in a form suited for controller design and computer simulation. Based on the dynamic model, Airship response modes are analyzed and control challenges are pointed out. The present work provides a starting point for robotics and control researchers interested in utilizing Airships as robotic aerial vehicles.

Rajkumar S. Pant - One of the best experts on this subject based on the ideXlab platform.

  • Simulation of Autonomous Airship on ROS-Gazebo Framework
    2019 Fifth Indian Control Conference (ICC), 2019
    Co-Authors: Sohan Suvarna, Dibyayan Sengupta, Pavankumar Koratikere, Rajkumar S. Pant
    Abstract:

    Airships have been revived towards the end of 20th century. Airships have found numerous applications other than sightseeing and advertising. Autonomous control of Airships is one of the areas where scientific research and development has gained tremendous attention in the recent years. This paper describes a methodology to simulate both the dynamics and control of an Airship using virtual platforms-ROS and Gazebo. Gazebo is used to model the dynamics of the Airship and ROS is used to develop a motion control algorithm.

  • design and fabrication of mooring masts for remotely controlled indoor and outdoor Airships
    AIAA Lighter-Than-Air Systems Technology (LTA) Conference, 2013
    Co-Authors: Syed Khaleelullah, Utsav Bhardwaj, Rajkumar S. Pant
    Abstract:

    This paper presents the design and structural details of two mooring masts, one for outdoor remotely controlled Airships and the other one for indoor remotely controlled Airships. In a previous study, a mast for outdoor remotely controlled Airship was designed to meet several user-specified operating requirements, and a simplified version of the same was fabricated. A spring loaded device was incorporated that sounds an alarm when the wind-loads exceed a threshold value, so that the Airship can be taken indoors. The present study started with a critical analysis of that mast, and a new mast was designed and fabricated to remove several of its shortcomings. This mast consists of power screw operated telescopic module made of aluminium, mounted on a five legged base with castor wheels, for ease in mobility. Components of the existing mast were used to the extent possible, and the design was simplified to meet the assembly and transportation requirements. The spring mechanism used in alarming device was also modified to ensure higher sensitivity in the range of maximum expected windloads acting on the Airship. A lightweight mooring mast for indoor remotely controlled Airships was also designed and fabricated, which can accommodate non-rigid indoor Airships of length up to 4 m. The mast consists of an elevating bolt operated telescopic module mounted on a tripod adapter base, with lockable castor wheels, and has a specially designed mooring-clamp at the top. The various modules and components of the mast were designed to enable quick assembly and transportation.

  • Controller Design for an Outdoor Autonomous Airship
    AIAA Lighter-Than-Air Systems Technology (LTA) Conference, 2013
    Co-Authors: Tejaas S. Potdaar, Arpita Sinha, Rajkumar S. Pant
    Abstract:

    Outdoor remotely controlled Airships can be used as aerial observation and scientific data-gathering platforms for a wide variety of applications. If such Airships can also be configured to operate in an autonomous mode, their efficacy is greatly enhanced. The aim of this paper is to critically review the available literature on design of controllers to help identify a design that is most suitable for imparting autonomous flight capability to an existing remotely controlled Airship. The paper provides a brief description of various outdoor autonomous Airship projects that have been pursued globally. A six-DOF nonlinear model of the Airship is discussed, which can be used to reproduce the Airship response to the inputs of actuator and wind disturbances. The linearization of this model for trim conditions over the flight envelope results in the decoupling of the longitudinal and lateral motions, and allows a thorough analysis of the Airship control design problem over the entire aerodynamic range.

  • a methodology for determination of baseline specifications of a non rigid Airship
    Journal of Aircraft, 2008
    Co-Authors: Rajkumar S. Pant
    Abstract:

    This paper presents a methodology for arriving at the baseline specifications of a non -rigid Airship of conventional configuration, given the performance and operational requirements. Specifi cally, the methodology calcula tes the envelope volume required to carry a use r- specified payload, and also arri ves at the mass breakdown, a nd per forman ce estimates . Alternatively, the payload that can be carried by an Airship of specified envelope volume can also be estimated. Sensitivity of parameters such as pressure altitude, ambient temperature, cruising speed, Helium purity level, engine power, env elope length to diameter ratio etc. on the payload available or envelope volume requi red can also be determined . T he baseline specifications of two Airships for transportation of goods and passengers under hot and hi gh conditions obtained using this method ology are presented . Results of sensitivity analysis for one Airship are also discussed. 1 NOMENCLATURE

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