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Considering the structural features of unmanned helicopters, the present paper designs a hierarchical inner-outer loop-based flight controller. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of adaptive backstepping techniques that allow stabilization of the attitude. The obtained control method takes advantage...
This paper presents a hierarchical inner-outer loop-based approach to the longitudinal and lateral control of a small unmanned helicopter in the presence of parameter uncertainties and exogenous disturbances. The outer loop employs robust H∞ output feedback to attenuate the wind disturbance and track the reference trajectory, while the inner loop controller is proposed to solve the parameter uncertainties...
A hierarchical inner-outer loop-based controller is proposed to solve the trajectory tracking problem of a small unmanned helicopter. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of backstepping techniques that allow the stabilization of the attitude. The obtained control method takes advantage of both controllers...
Considering the structural features of unmanned helicopters, the present paper designs a hierarchical inner-outer loop-based controller to solve the trajectory tracking problem. The outer loop employs model predictive controller to track the reference trajectory, while the inner loop controller is designed by means of backstepping techniques that allow stabilization of the attitude. The obtained control...
In this paper, we present an autonomous helicopter with vision based navigation called South China University of Technology unmanned aerial vehicle (SCUAV). A GPS/INS system has been designed and implemented for getting stable navigation information. A Kalman filtering has been used in this system for data fusion. A real-time computer vision system is presented in this paper as the complement of the...
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