نتایج جستجو برای: attitude dynamics
تعداد نتایج: 517303 فیلتر نتایج به سال:
State-of-the-art approaches in quadrotor control split the problem into multiple cascaded subproblems, exploiting the different time scales of the rotational and translational dynamics. They calculate a desired acceleration as input for a cascaded attitude controller but omit the attitude dynamics. These approaches use limits on the desired acceleration to maintain feasibility and robustness th...
In navigation applications, the presence of an unknown bias in the measurement of rate gyros is a key performance-limiting factor. In order to estimate the gyro bias and improve the accuracy of attitude measurement, we proposed a new method which uses the rotation of an inertial measurement unit, which is independent from rigid body motion. By actively changing the orientation of the inertial m...
This paper focuses at the dynamics of attitude change in large groups. A multi-agent computer simulation has been developed as a tool to study these dynamics. A major extension in comparison to earlier models is that Social Judgement Theory is being formalised to incorporate processes of assimilation and contrast in persuasion processes. Results demonstrate that the attitude structure of agents...
A three-dimensional (3D) integrated guidance and control (IGC) design approach is proposed by using small-gain theorem in this paper. The 3D IGC model is formulated by combining nonlinear pursuer dynamics with the nonlinear dynamics describing pursuitevasion motion. Small-gain theorem and ISS theory are iteratively utilized to design desired attack angle, sideslip angle and attitude angular rat...
This paper proposes that some practices and trends in mental health care may be considered as defensive responses to collective anxiety and fear. On a larger scale similar dynamics occur around fear of terrorism. Collectively and individually we are pulled by the defensive forces and dynamics associated with anxiety. This can in part explain the polarization that occurs around issues of definit...
سازه های دریایی به دلیل اهمیت راهبردی حمل ونقل دریایی از جمله کلیدی ترین بناها، در مجموعه ساخت وساز کشوری می باشند. بشر با احداث بنادر و سازه های ساحلی در حقیقت باعث تغییر در الگوی جریانات ساحلی و به تبع آن تغییر در الگوی رسوب گذاری می شود. به واسطه جابجایی رسوبات ساحلی، مسئله رسوب گذاری سواحل و فرسایش در سواحل مطرح می گردد که هر یک از این پدیده ها، کاربری تأسیسات و سازه های ساخته شده در دریا ر...
In navigation applications, the presence of an unknown bias in the measurement of rate gyros is a key performance-limiting factor. In order to estimate the gyro bias and improve the accuracy of attitude measurement, we proposed a new method which uses the rotation of an inertial measurement unit, which is independent from rigid body motion. By actively changing the orientation of the inertial m...
This paper presents a nonlinear model predictive control (NMPC) strategy combined with constraint satisfactions for a quadcopter. The full dynamics of the quadcopter describing the attitude and position are nonlinear, which are quite sensitive to changes of inputs and disturbances. By means of constraint satisfactions, partial nonlinearities and modeling errors of the control-oriented model of ...
Filtering algorithms are the workhorse of spacecraft attitude estimation but recent research has shown that the use of batch estimation techniques can result in higher accuracy per unit of computational cost. This paper presents an approach for singularity-free batch estimation of attitude in continuous-time using B-Spline curves on unit-length quaternions. It extends existing theory of unitlen...
T h e work reported in this paper i s aimed a t designing a horizontal velocity controller f o r the unmanned helicopter A P I D MK-111 by Scandicraft AB in Sweden. T h e controller is able of regulating high horizontal velocities via stabilizat ion of the attitude angles within m u c h larger ranges than currently available. W e use a novel approach t o the design consisting of two steps: firs...
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