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We present in this paper the actual implementation results of flight formation of multiple unmanned helicopters. More specifically, we consider a leader-follower formation flight behavior with two scenarios: 1) the flight formation test with the leader being a manned helicopter following a zigzag-like trajectory, and 2) the flight test with the leader being an unmanned system following circle and...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
We document in this article a general introduction to modern miniature unmanned rotorcraft systems. More specifically, we present a fairly detailed overview on the hardware configuration, software integration, aerodynamic modeling, automatic flight control system, and computer vision system involved in forming an unmanned rotorcraft system.
The primary focus of this work is to design and implement a robust automatic flight control system for a smallscale unmanned helicopter. A comprehensive nonlinear model for the unmanned system, which is constructed by our research team at the National University of Singapore, is first derived and presented. Based on its linearized model, a robust automatic flight control system is then designed by...
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