Indoor Hovering Control of Small Ducted-fan Type OAV Using Ultrasonic Positioning System

Shin, Jung Won; Ji, Sanki; Shon, Woong-Hee; Lee, Ho-Gil; Cho, Kuk; Park, Sangdeok

doi:10.1007/s10846-010-9488-6

Cited by 9 publications

(9 citation statements)

References 2 publications

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“…where the control gain LQT is a set of gains which consists of the regulation gain ( ) and tracking gain ( ). The LQ tracker (LQT) can be designed to integrate (12) in time, and the tracker system is shown as Figure 9. However, the tracking term will not converge to the steady-state error because all of the state variables are differential terms to include the tracking error term.…”

Section: Optimal Control Theorymentioning

confidence: 99%

“…A PD controller was designed for an attitude system, and a linear quadratic integrator (LQI) was designed for a hovering control. Then the designed control system was verified indoor flight test [12]. In this research, a tracking controller based on an optimal control theory is proposed considering entire flight conditions: hover mode, transition mode, and cruise mode for the Chungnam National University (CNU) ducted-fan UAV that has been developed.…”

Section: Introductionmentioning

confidence: 99%

“…The proposed controller can reduce computation power compared to the compensator method with neural network adaptation law [4,6]. Moreover, the LQTI is designed for an attitude control to compare with the linear approach [12]. In addition, to guarantee reality of the controller design, this study presents extensive modeling and trim/linearization analysis of the CNU ducted-fan UAV by carrying out wind tunnel tests.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, to guarantee reality of the controller design, this study presents extensive modeling and trim/linearization analysis of the CNU ducted-fan UAV by carrying out wind tunnel tests. They are performed with a wind tunnel velocity from 0 m/s to 15 m/s to cover the full flight modes against the previous studies to consider hovering operation [2,5,6,9,10,12]. Also, the robustness against wind disturbances is validated through numerical simulations.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

Jeong¹,

Kim²,

Suk³

2015

International Journal of Aerospace Engineering

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Tracking control system based on linear quadratic (LQ) tracker is designed for a ducted-fan unmanned aerial vehicle (UAV) under full flight envelope including hover, transition, and cruise modes. To design the LQ tracker, a system matrix is augmented with a tracking error term. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI) is designed to add an integral term of tracking state in the state vector. Then the performance of the proposed controller is verified through waypoint navigation simulation under wind disturbance.

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Section: Optimal Control Theorymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

Jeong¹,

Kim²,

Suk³

2015

International Journal of Aerospace Engineering

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show abstract

“…A similar system is described in Bouabdallah and Siegwart (2007), where ultrasonic and IR sensors are also used for altitude control and obstacle avoidance. In Shin et al (2011), an ultrasonic positioning system (UPS) has been developed and used for indoor hovering control of a small ducted‐fan UAS. The UPS consists of four transmitter nodes onboard the vehicle, eight receiver nodes on the ground, and a server node.…”

Section: Navigation Systemsmentioning

confidence: 99%

Highway design software as support of a project‐based learning course

Castro

2012

Comp Applic In Engineering

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Traditionally, practical training of students in highway design has been based on solving geometric problems without using professional highway design software. In a degree of the Technical University of Madrid (UPM), teaching of this subject has been redesigned using a project-based learning approach. Along the course, the students make a complete project of a highway using professional software and procedures. The highway design software chosen includes a simulator that makes a virtual journey along the highway from the point of view of a driver traveling on it. A detailed description of the course program and the software used is provided. ß

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Development of a Rotorcraft Micro air Vehicle for Indoor Flight Research

Wang

Yang

2015

J Intell Robot Syst

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Indoor Hovering Control of Small Ducted-fan Type OAV Using Ultrasonic Positioning System

Cited by 9 publications

References 2 publications

Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker

Highway design software as support of a project‐based learning course

Development of a Rotorcraft Micro air Vehicle for Indoor Flight Research

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