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RESEARCH
RESEARCH
1. Precision Landing on Stationary Target
1. Precision Landing on Stationary Target
We cannot obtain precision landing using GPS information. Normally, GPS causes horizontal errors within 2-3 meters.
A new method to obtain precision landing using a pair of IR beam: IR emitter (MarkOne Beacon) and IR receiver (IR-lock sensor).
A fuzzy method is applied to minimize the horizontal errors through landing speed.
Hardware architecture
Fuzzy rules
Precision landing on a wireless charging station
Precision landing on a car
2. Fault Tolerant Control
2. Fault Tolerant Control
Fault Tolerant Control system consists of two schemes: Fault Diagnosis and Fault Tolerant control
Fault diagnosis is proposed to estimate the magnitude of fault.
From the Diagnosis information, the Fault Tolerant Control scheme can accommodate large faults or severe faults.
Fault detection and fault tolerant control-one motor failure
Fault detection and fault tolerant control- two motor failures in sequence
Fault detection and fault tolerant control- simultaneous failure in two motors
Formation control of multiple quadcopter
Persistent charging with Crazyflie
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