The Design of Helicopter Autopilot

Pshikhopov, Viacheslav; Sergeev, Nikolay; Medvedev, Mikhail; Kulchenko, Artem

doi:10.4271/2012-01-2098

Cited by 15 publications

(8 citation statements)

References 1 publication

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“…) Herein x is a speed vector of the aircraft, y is a coordinate vector of the aircraft; F u is a control vector; F d is a nonlinear functional vector; M is matrix of masses and moments of inertia; R is functional matrix of kinematical connections. Model (35) is described detailed for airships in [12,13,14], for underwater vehicles in [7,15], and for helicopters in [16]. The aim of this example is to design the vector F u such that vehicle (35) is stable in an area Ω of the undisturbed motion x 0 , y 0 .…”

Section: Examplementioning

confidence: 99%

Design of Robust Control for Block Nonlinear Systems by Lyapunov Functions Method

Medvedev

Pshikhopov

2014

AMR

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This paper is devoted to robust control design for block multilinked nonlinear dynamical systems. Transformation of the block system to the single block system is proposed. For the considered block systems function of Lyapunov is designed. It is proved if the number of controls is equal to or more than the number of state variables of the block, then in the given area the closed-loop system conditions of stability followed controllability conditions. Control design accounts limitations of controls and state variables. Modeling results for nonlinear objects control systems are presented.

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Section: Examplementioning

confidence: 99%

Design of Robust Control for Block Nonlinear Systems by Lyapunov Functions Method

Medvedev

Pshikhopov

2014

AMR

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“…Thus, for the synthesis of control algorithms, we need the basis control methods of nonlinear and multilinked objects. As such method we choose the Position-trajectory control method [4,[23][24][25][26]. This method enables to control the moving objects along on a desired path (trajectory goal) and at a constant speed.…”

Section: Motion Control Algorithm Synthesysmentioning

confidence: 99%

“…(61) where: A , T and C -are diagonal matrixes of constant coefficients, which define the desired character of the system action and transient [4,[23][24][25][26].…”

Section: Control Goal and Control Problem Definitionmentioning

confidence: 99%

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Multimode heavy robots motion control and powertrain optimization

Pogosov¹

2014

IMK-14 Istraživanje i razvoj

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The paper presents synthesis of a control system of a heavy industrial mobile robot with optimization of its energy consumption. The introduced methods acts to fuel saving. We arranged a special motion control mode of the engine works with a constant power, so the optimal engine mode is achieved and no braking needed during the robot motion. The paper presents a method for optimization the rotor flux of electric powertrain induction motors. The introduced solutions are universal about power characteristics of traction motors and to their working mode. This allows the system to control the traction motors with non-hyperbolic characteristics as well as above rated speed without changing the structure of the control system.Motion control is based on algorithmic framework of the Position-trajectory control. We enlarged the Positiontrajectory method to a class of systems which motion coupled with the constant engine power, as well as to a class of systems, which have redundant structure. We introduced the multimode control method able to soft switch the motion modes.

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“…In (Beloglazov, 2014, Chowdhary, 2013, Kanatnikov, 2012, Pshikhopov, 2012) describes a mathematical model of the motion of the UAV with the presentation method for solving the problem of movement of the terminal using the time polynomials and an example of its use. Planning for UAVs maneuvers is based on one of the proposed heuristic algorithms.…”

Section: Introductionmentioning

confidence: 99%

Models of Conflicts in Motion Control Small UAV

Gumenyuk¹,

Vorotnikov²,

Pozdniakov³

2016

Adv. Sci.

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Abstract:The paper deals with the formalization of conflict patterns that arise in the management of the movement of small UAVs. The stages describe the conflicts, their classification. Model description of the conflict involves two tasks: the formation of the desired type of UAV flight path and forming the vector control or self-propelling UAVs along such a trajectory. The proposed models of conflicts include the impact of the flight environment, the presence of the path of the UAV prohibited areas that arise when flying at low altitudes static, but on the entire range of performance of the flight task -dynamic objects. These conflicts system models can be used to find estimates of permissible boundaries of the vector values of UAV motion parameters in order to predict the probability of performing the flight task, allowing to make the appropriate adjustments in the theory of intelligent control of the UAV and a part used for its implementation of the airborne and ground systems.

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The Design of Helicopter Autopilot

Cited by 15 publications

References 1 publication

Design of Robust Control for Block Nonlinear Systems by Lyapunov Functions Method

Design of Robust Control for Block Nonlinear Systems by Lyapunov Functions Method

Multimode heavy robots motion control and powertrain optimization

Models of Conflicts in Motion Control Small UAV

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