Active Modeling Based Yaw Control of Unmanned Rotorcraft
نویسندگان
چکیده
منابع مشابه
Active Modeling Based Yaw Control of Unmanned Rotorcraft
With the characteristics of input nonlinearity, time-varying parameters and the couplings between main and tail rotor, it is difficult for the yaw dynamics of Rotorcraft to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a new kind of robust controller design strategy based on active modeling technique is proposed to attenuate the unce...
متن کاملAutonomous Autorotation of Unmanned Rotorcraft using Nonlinear Model Predictive Control
Safe operations of unmanned rotorcraft hinge on successfully accommodating failures during flight, either via control reconfiguration or by terminating flight early in a controlled manner. This paper focuses on autorotation, a common maneuver used to bring helicopters safely to the ground even in the case of loss of power to the main rotor. A novel nonlinear model predictive controller augmente...
متن کاملVision-based terrain following for an unmanned rotorcraft
Experiments from biology suggest that the sensing of image motion or optic flow in insects provides a means of determining the range to obstacles and terrain. When combined with a measure of ground speed from another sensor such as GPS, optic flow can be used to provide a measure of an aircraft’s height above terrain. We apply this principle to the control of height in a helicopter, leading to ...
متن کاملControl System Design for Rotorcraft-based Unmanned Aerial Vehicles using Time-domain System Identification
This paper introduces the development of flight control system for rotorcraft-based unmanned aerial vehicle(RUAV). In this research, the linear time-invariant model valid for hover is sought. The system response data is acquired in carefully devised experiment procedure and then a linear time-invariant system model is obtained using time-domain analysis method. The acquired model is used to des...
متن کاملNonlinear Model Predictive Tracking Control for Rotorcraft-based Unmanned Aerial Vehicles
In this paper, we investigate the feasibility of a nonlinear model predictive tracking control (NMPTC) for autonomous helicopters. We formulate a NMPTC algorithm for planning paths under input and state constraints and tracking the generated position and heading trajectories, and implement an on-line optimization controller using gradient-descent method. The proposed NMPTC algorithm demonstrate...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal on Smart Sensing and Intelligent Systems
سال: 2014
ISSN: 1178-5608
DOI: 10.21307/ijssis-2017-661