Towards Autonomous Autorotation Landing for Small Size Unmanned Helicopters
نویسندگان
چکیده
The consideration of safety issues in the operation of helicopters involves the capability to perform emergency descending maneuvers through the autorotation principle when the engine is no longer supplying power. When comparing manned and unmanned helicopters, the lower rotor inertia of UAV configurations makes this functionality even more challenging for the pilot since more accurate timing and speed control of the flare phase are required. This paper presents a D. Santamaría (B) · A. Viguria · A. Ollero Parque Tecnológico y Aeronáutico de Andalucía, Center for Advanced Aerospace Techonologies (CATEC), c/ Wilbur y Orville Wright 19, 41309, La Rinconada Seville, Spain e-mail: [email protected] A. Viguria e-mail: [email protected] A. Ollero e-mail: [email protected] M. Bejar University Pablo de Olavide, Seville, Spain e-mail: [email protected] K. Kondak German Aerospace Center (DLR), Munich, Germany e-mail: [email protected] A. Ollero Universidad de Sevilla, Seville, Spain e-mail: [email protected] complete set of guidelines to design a controller for the autonomous autorotation landing of an UAV. This analysis is based on experimental data that corresponds to autorotation landings of a small-size helicopter carried out by a skillful pilot.
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Autonomous helicopters have been studied for years because they represent an interesting class of unmanned aerial vehicles (UAVs). Recent works (abb [1]) have successfully shown that unmanned helicopters can accomplish the most di cult acrobatic gures and can be controlled in di cult attitudes by learning from a human model. In the wake of these studies, the present work is interested in handli...
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ورودعنوان ژورنال:
- Journal of Intelligent and Robotic Systems
دوره 69 شماره
صفحات -
تاریخ انتشار 2013