Search

Your search keyword '"Marco Lovera"' showing total 263 results
Start Over Author "Marco Lovera"
263 results on '"Marco Lovera"'

1. A Computer Vision Line-Tracking Algorithm for Automatic UAV Photovoltaic Plants Monitoring Applications

Author

Gabriele Roggi, Alessandro Niccolai, Francesco Grimaccia, and Marco Lovera

Subjects
pv plant monitoring, unmanned aerial vehicles, automatic flight, image processing, computer vision, fly-by-sensor, Technology
Abstract

In this paper, the authors propose an UAV-based automatic inspection method for photovoltaic plants analyzing and testing a vision-based guidance method developed to this purpose. The maintenance of PV plants represents a key aspect for the profitability in energy production and autonomous inspection of such systems is a promising technology especially for large utility-scale plants where manned techniques have significant limitations in terms of time, cost and performance. In this light, an ad hoc flight control solution is investigated to exploit available UAV sensor data to enhance flight monitoring capability and correct GNSS position errors with respect to final target needs. The proposed algorithm has been tested in a simulated environment with a software-in-the loop (SITL) approach to show its effectiveness and final comparison with state of the art solutions.

Published
2020
Full Text
View/download PDF

22. Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles

Author

Davide Invernizzi, Marco Lovera, and P. Ghignoni

Subjects
Control and Systems Engineering, Control theory, Computer science, Static compensator, Electrical and Electronic Engineering, Multirotor, Focus (optics), Position control, Unit delay
Abstract

In this brief, we present and validate an antiwindup (AW) control design suitable to deal with saturated discrete-time linear plants. Following the modern approach to AW design, the proposed synthesis procedure is based on the compensator paradigm in which the AW controller acts on top of a baseline one, tuned to achieve desirable performance in the unsaturated regime. After extending existing ideas for continuous-time plants to their discrete-time counterparts, the design of the AW compensator is carried out with a focus on computational efficiency and optimized performance in practical operating scenarios. The proposed approach allows one to design fixed-dynamics AW compensators for possibly open-loop unstable plants using generalized sector conditions. Then, the synthesis procedure is applied to tune a fixed-dynamics compensator having the structure of a static compensator cascaded with a unit delay to avoid algebraic loops. Finally, the benefits of such AW augmentation are assessed experimentally to counteract windup effects arising in the position control of multirotor unmanned aerial vehicles (UAVs) when pitch limitations are imposed.

Published
2021

34. Beyond Simulation.

Author

Francesco Casella, Filippo Donida, and Marco Lovera

Published
2008

47. Comparison of Control Methods for Trajectory Tracking in Fully Actuated Unmanned Aerial Vehicles

Author

Marco Lovera, Davide Invernizzi, Paolo Gattazzo, and Mattia Giurato

Subjects
020301 aerospace & aeronautics, 0209 industrial biotechnology, Rotor (electric), Computer science, ComputerApplications_COMPUTERSINOTHERSYSTEMS, Thrust, Control engineering, 02 engineering and technology, Servomotor, Tracking (particle physics), law.invention, Attitude control, 020901 industrial engineering & automation, 0203 mechanical engineering, Control and Systems Engineering, law, Trajectory, Electrical and Electronic Engineering, Multirotor, Servo
Abstract

In this article, recently proposed control methods, suitable for trajectory tracking in fully actuated unmanned aerial vehicles (UAVs), are reviewed and experimentally compared. We specifically focus on multirotor platforms with tiltable propellers, for which the thrust and torque delivered by each rotor can be oriented within the aircraft frame using servo actuators. First, the main assumptions underlying the control design model usually employed in the literature are discussed, pointing out the main limitations. Then, some recent control laws that have been proposed to address the trajectory tracking problem for these platforms are reviewed, placing emphasis on their tracking capabilities as well as on the ease of tuning and implementation. Finally, experimental results obtained by applying three control laws on a tilt-arm quadrotor UAV are shown to evaluate and compare their performance. Two experiments, representative of operating conditions for thrust-vectoring UAVs, have been performed: a set-point tracking with level attitude and a full-pose trajectory tracking task.

Published
2021

Catalog

Books, media, physical & digital resources
See catalog results