Attitude Control of Small Electric Helicopter by Using Quaternion Feedback

Suzuki, Satoshi; Nakazawa, Daisuke; Nonami, Kenzo; Tawara, Makoto

doi:10.1299/jsdd.5.231

Cited by 16 publications

(18 citation statements)

References 13 publications

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“…Backstepping is also used to perform trajectory generation for target tracking using a discretized nonlinear controller in [165]. In [182], backstepping is used in attitude control using a nonlinear model-based on quaternion feedback. Other works involving backstepping include [159,186,190,193,206,207].…”

Section: Nonlinear Backstepping Controllersmentioning

confidence: 99%

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Alvarenga

Vitzilaios

Valavanis

et al. 2014

J Intell Robot Syst

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Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last two decades. Although many challenges still exist, one of the main UAS focus research areas is in navigation and control. This paper provides a comprehensive overview of helicopter navigation and control, focusing specifically on small-scale traditional main/tail rotor configuration helicopters. Unique to this paper, is the emphasis placed on navigation/control methods, modeling techniques, loop architectures and structures, and implementations. A 'reference template' is presented and used to provide a basis for comparative studies and determine the capabilities and limitations of algorithms for unmanned/autonomous flight, as well as for navigation, and control. A detailed listing of related research is provided, which includes model structure, helicopter platform, control method and loop architecture, flight maneuvers and results for each. The results of this study was driven by and has led to the development of a 'one-fits-all' comprehensive and modular navigation controller and timing architecture applicable to any rotorcraft platform.

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Section: Nonlinear Backstepping Controllersmentioning

confidence: 99%

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Alvarenga

Vitzilaios

Valavanis

et al. 2014

J Intell Robot Syst

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“…The block diagram of the entire guidance, navigation, and control (GNC) system is shown in Fig.10. The attitude controller was designed in previous studies [14] and [15] and composite navigation was designed in the previous section. Here, we realize the three-dimensional guidance of the helicopter.…”

Section: Guidance and Control System Designmentioning

confidence: 99%

Autonomous Navigation, Guidance and Control of Small Electric Helicopter

Suzuki

Ishii

Okada

et al. 2013

International Journal of Advanced Robotic Systems

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In this study, we design an autonomous navigation, guidance and control system for a small electric helicopter. Only small, light-weight, and inaccurate sensors can be used for the control of small helicopters because of the payload limitation. To overcome the problem of inaccurate sensors, a composite navigation system is designed. The designed navigation system enables us to precisely obtain the position and velocity of the helicopter. A guidance and control system is designed for stabilizing the helicopter at an arbitrary point in three-dimensional space. In particular, a novel and simple guidance system is designed using the combination of optimal control theory and quaternion kinematics. The designs of the study are validated experimentally, and the experimental results verify the efficiency of our navigation, guidance and control system for a small electric helicopter.

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“…Table 2 shows a target accuracy of the attitude sensor. Each value has been decided experimentally from necessity for attitude control of a small unmanned helicopter (11), (12) . The row of "Under Acceleration" was led from the maximum acceleration disturbance in an application of UAVs, and the amplitude of acceleration disturbance was 0.2[G].…”

Section: Journal Of System Design and Dynamicsmentioning

confidence: 99%

“…Therefore, in a previous study, we proposed an attitude estimation algorithm by using a quaternion based on the extended Kalman filter (EKF) (11) . Additionally, we applied this algorithm to the autonomous control of a small helicopter (12) . To estimate the attitude, an attitude sensor needs to detect the direction of gravity by using a tri-axis accelerometer.…”

Section: Introductionmentioning

confidence: 99%

Development of a Small-Scale, Light Weight, and Versatile Attitude Sensor

Tawara

Suzuki

Nonami

2012

JSDD

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An attitude sensor mounted on an unmanned system requires to have high accuracy in attitude estimation under a dynamic acceleration environment for autonomous attitude control. To estimate the attitude, an attitude sensor needs to detect the direction of gravity from measured accelerations, which include dynamic accelerations. However, accelerometers are usually sensitive to both gravity and dynamic accelerations. In this paper, two attitude estimation algorithms with a quaternion based on the extended Kalman filter are described and compared. One of the proposed algorithms uses a pre-filter. In this approach, measured accelerations are filtered by the pre-filter and classified into gravity and dynamic accelerations. Using only the measured gravitational accelerations, an EKF can estimate the attitude with high accuracy. In the other approach, the EKF includes a dynamical model of acceleration disturbance. It can estimate both the attitude and the acceleration disturbance. The comparative experiments with hand motion, moving vehicles, and UAVs, were carried out to evaluate these algorithms. In the result of pre-filter method, estimation errors were accumulated in long-term acceleration disturbance. Meanwhile, the EKF algorithm with a dynamical model of acceleration disturbance provided accurate results in each experiment. As a result, we concluded the latter method is well suited to a dynamic acceleration environment for unmanned systems.

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Attitude Control of Small Electric Helicopter by Using Quaternion Feedback

Cited by 16 publications

References 13 publications

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Autonomous Navigation, Guidance and Control of Small Electric Helicopter

Development of a Small-Scale, Light Weight, and Versatile Attitude Sensor

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