Abstract In the CDIO-project course in Automatic Control, an autonomous unmanned aerial vehicle (UAV) is constructed, utilizing an existing radio controlled model aircraft. By adding an inertial sensor measuring acceleration and rotation, to- gether with a global positioning system (GPS) sensor, the aim is to construct an accurate positioning system. This is used by an on board computer to calcu- late rudder control signals to a set of DC-servos in order to follow a predefined way-point trajectory. The project involves 17 students, which is roughly three times as big as previous projects, and it comprises both positioning, control, and hardware design. Since the project is still ongoing some preliminary results and conclusions are presented. Keywords: CDIO, Project Course, UAV, Positioning, Control Avdelning, Institution Division, Department Division of Automatic Control

Abstract, The implication of quantized sensor information on estimation and filtering problems is studied. The close relation between sampling and quantization theory was earlier reported by Widrow, Kollar and Liu (1996). They proved that perfect reconstruction of the probability density function (pdf) is possible if the characteristic function of the sensor noise pdf is band-limited. These relations are here extended by providing a class of band-limited pdfs, and it is shown that adding such dithering noise is similar to anti-alias filtering in sampling theory. This is followed up by the implications for maximum likelihood and Bayesian estimation. The Cram'er-Rao lower bound (CRLB) is derived for estimation and filtering on quantized data. A particle filter (PF) algorithm that approximates the optimal nonlinear filter is provided, and numerical experiments show that the PF attains the CRLB, while second-order optimal Kalman filter approaches can perform quite bad.

In this contribution it is shown how an iterative learning control algorithm can be found for a disturbance rejection application where a repetitive disturbance is acting on the output of a system. ...

Frequency domain convergence conditions for Current Iteration Tracking Error (CITE) Iterative Learning Control (ILC) algorithms are presented. The convergence conditions together with a discrete-ti ...