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Rotorcraft Aerial Manipulator (RAM) system is composed of a Rotorcraft Unmanned Aerial Vehicle (RUAV) and a multi Degree-Of-Freedom (DOF) manipulator, which is designed to fulfill aerial manipulation. Moments of inertia and center-of-mass position for RAM system vary when the manipulator moves. The influence of robot arm motion is treated as perturbations for RUAV in the process of overall system...
Tilt rotor unmanned aerial vehicle (TRUAV) with ability of hovering and high-speed cruise has attached much attention, but its transition control is still a difficult point because of varying dynamics. This paper proposes a multi-model adaptive control (MMAC) method for a quad-TRUAV, and the stability in the transition procedure could be ensured by considering corresponding dynamics. For safe transition,...
With the development of rotor aerial robot, it has been widely used as a stabilized flying platform to achieve observation, communication relay and so on by equipping corresponding equipment, which are always called passive tasks. However, many applications need rotor aerial robots to possess more active capability, such as grasp, carry and assemblage. Thus, the demand for an aerial manipulation system...
Powered Parafoil Unmanned Aerial Vehicle (PPUAV), which is suitable for large-area and long-time surveillance and airdrop missions, is a type of innovative UAV. It consists of parafoil canopy, payload and suspension lines, and has the advantages of simple structure, low cost and high load capacity. However, due to the apparent mass and flexible connection, it is hard to build an accurate model for...
Nonlinear control methods are difficult to work on an unmanned helicopter system for its inherently unstable, high-order, and cross-coupled dynamic characters. In order to use experienced linear control methods on nonlinear helicopter system, in this paper, approximate feedback linearization method is used to linearize the nonlinear helicopter system by neglecting the coupling term. Then, we introduce...
Multiple Unmanned Helicopters (UH) formation control is a difficult problem due to the highly nonlinear model and extensively existing uncertainties. In this paper, basing on the concept of relative dynamics and Leader-Follower formation strategy, a new formation control algorithm is given to partially solve this problem. First, the formation control problem is transformed into tracking problems of...
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