The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicop...

In recent years advances in technical safety of large helicopters have been achieved through the implementation of Health and Usage Monitoring Systems (HUMS). These systems have provided improved information on the integrity of the helicopter powertrain. All HUM systems have been introduced on the back of a mandatory requirement to fit Flight Data Recorders (FDRs). Until now, however, the fligh...

This paper considers the problem of generating optimal guidance trajectories for high-speed waypoint transitions by an autonomous helicopter. Given a set of waypoints and a desired order for passing through them, an optimal control problem is solved using collocation for every pair of consecutive waypoints. The linear hover model of the Yamaha R-50 helicopter is employed in the optimal control ...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...

The family is a place where each member grows and flourishes, might be likened to house that must correlate between every aspect of the element in it. Relationships not only talk about relationships but also correlation have connection other. Family circumstances should emphasize an awareness essence family, one marked by definite precise limits on application. A single upbringing something has...

Helicopters in flight are unstable, and hovering at one spot requires the pilot to do a considerable amount of active control. To date, it is still under discussion which sensory cues helicopter pilots use for this stabilization task, and how these cues are combined. Here we investigated how cues from different sensory modalities (visual cues and body cues) are used when humans stabilize a simu...

This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC) for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI) is introduced as a bijective function. The proposed DI is used to interconnect the h...