Publication: Aplicación de técnicas de soft computing al modelado y control de vehículos aéreos no tripulados
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2019-09-03
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Universidad Complutense de Madrid
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Abstract
El uso de UAVs (vehículos autónomos aéreos), y en concreto, de cuatrirrotores o drones, está creciendo de día en día, y se espera que se usen en multitud de aplicaciones: rescate, seguridad,lucha contra incendios, agricultura, inspección de estructuras, logística, … En la mayoría de estas tareas los cuatrirrotores deben actuar de una forma totalmente autónoma. Estas aplicaciones y las que están por llegar requieren el diseño de modelos y controladores eficientes y robustos para esos vehículos no pilotados. Sin embargo, esta no es una tarea sencilla debido, entre otras causas, a la aleatoriedad de los flujos de aire, la dinámica altamente no lineal del UAV, el acoplamiento entre sus variables internas, etc. Estos factores hacen que las técnicas de Soft Somputing (computación suave, una rama de la Inteligencia Artificial), y entre ellas concretamente las redes neuronales artificiales y la lógica fuzzy, sean un enfoque prometedor para la identificación y el control de estos sistemas...
The use of UAVs (unmanned aerial vehicles), and specially quadrotors, is growing day by day, they are planned to be used in multitude of valuable applications: rescue, security, firefighting, agriculture, structure inspection, logistics, … In most of those tasks, the quadrotorsare expected to be fully autonomous. All these applications and those to come, demand the design of efficient and robust models and controllers for those autonomous vehicles. However, this is not an easy task due to, among others: the randomness of the airstreams, the high nonlinearity dynamics, the coupling between the internal variables, etc. These factors make the Soft Computing techniques (a field of the Artificial Intelligence), and among them specially the artificial neural networks and the fuzzy logic, a promising approach for the identification and control of these systems...
The use of UAVs (unmanned aerial vehicles), and specially quadrotors, is growing day by day, they are planned to be used in multitude of valuable applications: rescue, security, firefighting, agriculture, structure inspection, logistics, … In most of those tasks, the quadrotorsare expected to be fully autonomous. All these applications and those to come, demand the design of efficient and robust models and controllers for those autonomous vehicles. However, this is not an easy task due to, among others: the randomness of the airstreams, the high nonlinearity dynamics, the coupling between the internal variables, etc. These factors make the Soft Computing techniques (a field of the Artificial Intelligence), and among them specially the artificial neural networks and the fuzzy logic, a promising approach for the identification and control of these systems...
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Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, leída el 18-06-2019