Linear And Nonlinear Control Of Small Scale Unmanned Helicopters
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Linear And Nonlinear Control Of Small Scale Unmanned Helicopters
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Author : Ioannis A. Raptis
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-09-28
Linear And Nonlinear Control Of Small Scale Unmanned Helicopters written by Ioannis A. Raptis and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-09-28 with Technology & Engineering categories.
There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors. • Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms. This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required.
Autonomous Flying Robots
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Author : Kenzo Nonami
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-09-15
Autonomous Flying Robots written by Kenzo Nonami and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-09-15 with Technology & Engineering categories.
The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.
Unmanned Rotorcraft Systems
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Author : Guowei Cai
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-06-01
Unmanned Rotorcraft Systems written by Guowei Cai and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-06-01 with Technology & Engineering categories.
Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.
Unmanned Aircraft Systems
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Author : Ella Atkins
language : en
Publisher: John Wiley & Sons
Release Date : 2017-01-17
Unmanned Aircraft Systems written by Ella Atkins and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-01-17 with Technology & Engineering categories.
UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.
Advances In Guidance Navigation And Control
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Author : Liang Yan
language : en
Publisher: Springer Nature
Release Date : 2021-11-12
Advances In Guidance Navigation And Control written by Liang Yan and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-11-12 with Technology & Engineering categories.
This book features the latest theoretical results and techniques in the field of guidance, navigation, and control (GNC) of vehicles and aircraft. It covers a range of topics, including, but not limited to, intelligent computing communication and control; new methods of navigation, estimation, and tracking; control of multiple moving objects; manned and autonomous unmanned systems; guidance, navigation, and control of miniature aircraft; and sensor systems for guidance, navigation, and control. Presenting recent advances in the form of illustrations, tables, and text, it also provides detailed information of a number of the studies, to offer readers insights for their own research. In addition, the book addresses fundamental concepts and studies in the development of GNC, making it a valuable resource for both beginners and researchers wanting to further their understanding of guidance, navigation, and control.
Recent Developments In Electrical And Electronics Engineering
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Author : Poonam Singhal
language : en
Publisher: Springer Nature
Release Date : 2023-04-28
Recent Developments In Electrical And Electronics Engineering written by Poonam Singhal and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-04-28 with Technology & Engineering categories.
This book contains cutting-edge research content presented by researchers, engineers, developers, and practitioners from academia and industry at the International Conference on Recent Developments in Electrical and Electronics Engineering (ICRDEEE 2022). The materials in the book include theory and applications for different areas of Electrical and Electronics Engineering. The topics covered include power systems and protection, energy, electric vehicles, smart grid, semiconductor technologies, electrical machines and drives, control systems with artificial intelligence, etc. The content is useful for researchers, professionals, and academicians in understanding current research trends, findings, and future scope of research in electrical and electronics engineering models.
Modeling And Simulation In Industrial Engineering
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Author : Mangey Ram
language : en
Publisher: Springer
Release Date : 2017-08-11
Modeling And Simulation In Industrial Engineering written by Mangey Ram and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-08-11 with Technology & Engineering categories.
This book describes the latest research developments in modeling and simulation in industrial engineering. Topics such as decision and performance analysis and industrial control systems are described. Case studies in industry and services as well as engineering economy and cost estimation are also covered.
Advances In Engineering Materials And Applied Mechanics
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Author : Guangde Zhang
language : en
Publisher: CRC Press
Release Date : 2015-10-22
Advances In Engineering Materials And Applied Mechanics written by Guangde Zhang and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-10-22 with Science categories.
With the rapid development of Machinery, Materials Science and Engineering Application, discussion on new ideas related mechanical engineering and materials science arise. In this proceedings volume the author(s) are focussed on Machinery, Materials Science and Engineering Applications and other related topics. The Conference has pro
Unmanned Aircraft Systems
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Author : Kimon P. Valavanis
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-12-21
Unmanned Aircraft Systems written by Kimon P. Valavanis and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-12-21 with Science categories.
Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009).
Identification Modeling And Characteristics Of Miniature Rotorcraft
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Author : Bernard Mettler
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-03-14
Identification Modeling And Characteristics Of Miniature Rotorcraft written by Bernard Mettler and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-03-14 with Technology & Engineering categories.
Identification Modeling and Characteristics of Miniature Rotorcraft introduces an approach to developing a simple and effective linear parameterized model of vehicle dynamics using the CIFERâ identification tool created by the Army/NASA Rotorcraft Division. It also presents the first application of the advanced control system optimization tool CONDUITâ to systematically and efficiently tune control laws for a model-scale UAV helicopter against multiple and competing dynamic response criteria. Identification Modeling and Characteristics of Miniature Rotorcraft presents the detailed account of how the theory was developed, the experimentation performed, and how the results were used. This book will serve as a basic and illustrative guide for all students that are interested in developing autonomous flying helicopters.