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In this paper, the dynamics of a flapping wing vehicle are studied. A quasi-steady model is developed to analyze its aerodynamic forces and moments. The unsteady effects are considered both in hovering state and forward flight state. Different from existing flapping wing vehicle dynamics model, the rudder's dynamics are concurrently considered in the proposed one. Numerical simulation is conducted...
A geometric adaptive dynamic visual servoing controller is proposed to control a quadrotor UAV to the desired pose defined by a visual image of a planar target. Different from other existing works on visual servoing, this paper introduces the idea of geometric control into the adaptive dynamic visual servoing controller design for UAVs. Partial pose information is recovered as the feedback signal...
The main objective of this paper is to design a dynamic surface adaptive fuzzy controller for a three-phase active power filter (APF). In order to deal with the nonlinearity of the APF, a fuzzy strategy combining an adaptive backstepping method is proposed where fuzzy controller is mainly responsible for the elimination of nonlinearities. Moreover, by adopting the dynamic surface method, the number...
In order to obtain a precise mathematical model of an autonomous underwater vehicle (AUV), model identification based on maximum likelihood relaxation algorithm is proposed in this paper. With experiment data of zigzag motion, the hydrodynamic derivatives of the AUV are estimated, and ideal convergence of maximum likelihood relaxation algorithm can be obtained from the contrast with normal approach...
Because of small volume of the mini autonomous underwater vehicle, the ability to resist the wave and the current disturbance is not ideal enough. The present motion models ignore the effect of the external disturbance, and even ignore the fin effective angle of attack. In this paper, we establish a dynamic motion model of the mini autonomous underwater vehicle which can describe the motion accurately...
Aiming at the character that the hidden layer wavelet function of wavelet neural network can adjust scale factor and shift factor to affect the outputs of neural network, the least disturbance algorithm adding scale factor and shift factor was proposed. The dynamic learning ratio can be calculated to minimize the scale factor and shift factor of wavelet function and the variation of net weights, and...
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