Experiments with Small Unmanned Helicopter Nose-Up Landings

Bayraktar, Selcuk; Féron, Éric

doi:10.2514/1.36470

Cited by 14 publications

(8 citation statements)

References 20 publications

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“…x _ y _ z T = quadrotor translational velocities in I , m∕s ξ x y z T = quadrotor positions in I , m ξ s x s y s z s T = ship positions in I , m τ τ ϕ τ θ τ ψ T = torques along quadrotor body axes, N ⋅ m χ mx , χ my , χ mz = state vectors of the reference models for Δx, Δy, and Δz dynamics, respectively χ mz1 = first component of the vector χ mz , m Ω p q r T = quadrotor rotational velocities in Q, deg ∕s ω w , ω E = sea wave and encounter wave frequencies, respectively, rad∕s ω 0R , ω 0ACC = peak frequencies of the ship heave motion and ship heave acceleration spectrums, respectively, rad∕s I. Introduction T HE research in the automation of unmanned aerial vehicles (UAVs) has evolved rapidly over the past decades, which is driven by their various applications ranging from military combat to civilian infrastructure inspection [1,2]. Moreover, compared to manned aircrafts, the UAVs are more suitable and expandable for dull, dirty, and dangerous missions [3].…”

Section: Nomenclaturementioning

confidence: 99%

Shipboard Landing Control Enabled by an Uncertainty and Disturbance Estimator

Lü

Ren

Parameswaran

2018

Journal of Guidance, Control, and Dynamics

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This paper presents an autonomous landing control approach for a quadrotor unmanned aerial vehicle subject to wind disturbance and three-dimensional movements of the landing platform. To achieve an accurate relative position estimation of the quadrotor to the landing platform, a camera, a distance sensor, and a single-board computer are integrated to the quadrotor. The coordinate transformation is introduced to deal with the constraint that only the relative position information is available. The impacts of unknown ship motions are treated as part of the lumped uncertainty terms. Then, the uncertainty and disturbance estimator-based controllers are developed to achieve the accurate relative position control of the quadrotor while dealing with unknown ship motions, ground effect, state couplings, and external disturbances. The uncertainty and disturbance estimator filter is designed based on the internal model principle to enhance the performance of the developed controller. The reference model of the relative altitude controller is modified to ensure the accurate tracking of descending commands. To maximize the capability of the developed controller, a parameter selection guideline based on the derived ship heave acceleration spectrum is provided. Both numerical simulations and flight experiments are carried out to demonstrate the effectiveness of the developed approach.

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Section: Nomenclaturementioning

confidence: 99%

Shipboard Landing Control Enabled by an Uncertainty and Disturbance Estimator

Lü

Ren

Parameswaran

2018

Journal of Guidance, Control, and Dynamics

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“…UAVs have been extensively studied in recent decades due to their extensive in military and civilian applications [1][2][3][4][5][6]. In most multirotor aerial vehicle configurations, rotors are located in the same plane and are symmetrically fixed on the airframe.…”

Section: Introductionmentioning

confidence: 99%

Design and experimental testing of safe flight control system for novel vertical take-off and landing aircraft

Nie¹,

Zhu²,

Wei³

et al. 2022

J. vibroeng.

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This paper describes the design and flight test of the control system of a novel octocopter with new topology to improve aerodynamic performance and efficiency. The article analyzes the advantages of the new configuration and analyzes the feasibility of the control method which can ensure fault-tolerant control when one rotor of the aircraft stops in theory. The feasibility verification is carried out through a prototype flight test. The power and hardware platform of the octocopter UAV was set up according to the requirements of structural and control system design. Flight tests were carried out multiple times, and the UAV's redundant actuation was able to successfully stabilize the vehicle, even after a single rotor stopped functioning. Under normal flight conditions, smooth flight and effective control could be ensured for the UAV, while under the condition of a single rotor having stopped functioning, the control method was able to effectively utilize the other seven rotors to provide a proper lift force and to control the aircraft to perform basic motions such as pitch, roll, and yaw.

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“…Therefore, many approaches have been proposed to improve the control performance during recent years, such as PID, feedback linearization, backstepping control, robust control, internal model control (IMC) and neural network control (Agus and Singgih, 2007;Cai et al, 2008;Chien et al, 2008;Douik, 2008;Ferruz et al, 2011;Gadewadikar et al, 2009;Sˇpinka et al, 2011;Zheng and Zhong, 2011). The PID control method has been widely used in SRUA systems for its simple control structure (Bayraktar and Feron, 2009). By linearizing several operating points of the flight envelope, the control parameters can be designed directly, but it is easily affected by the wind disturbance (Cai et al, 2009).…”

Section: Introductionmentioning

confidence: 99%

The high performance control for small rotary-wing unmanned aircraft based on composite control method

Lei

Liu

2014

Transactions of the Institute of Measurement and Control

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To improve flight performance of small rotary-wing unmanned aircraft under complex environment, a composite control method based on internal model control (IMC) and adaptive radial basis neural network (RBFNN) is proposed. With the analysis of the characteristics of system disturbance, an IMC system is constructed to eliminate system errors. Furthermore, an adaptive RBFNN without prior training is proposed to eliminate residual estimation errors to augment the control performance. The effectiveness of the composite control method is validated by a series of flight tests. Compared with the feedback control method, the composite control method can yield good tracking performance under wind disturbances.

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Experiments with Small Unmanned Helicopter Nose-Up Landings

Cited by 14 publications

References 20 publications

Shipboard Landing Control Enabled by an Uncertainty and Disturbance Estimator

Shipboard Landing Control Enabled by an Uncertainty and Disturbance Estimator

Design and experimental testing of safe flight control system for novel vertical take-off and landing aircraft

The high performance control for small rotary-wing unmanned aircraft based on composite control method

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