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This paper addresses soft landing of miniature helicopter issue and suggests an optimal strategy to reduce the terminal error. As two conventional methods to solve two-point boundary value problems, matrix Riccati equations and transition matrix are applied in sequence to acquire high terminal accuracy in LQR control law design. The role of the transition matrix is elaborated. Simulations also show...
The advantage of neural network (NN) controllers lies on their capability of learning from training data to approximate highly nonlinear functions for nonlinear system control. In this paper, we present a MIMO neural network controller with two inputs and two outputs for flight control of a small-scale unmanned helicopter. The feedback is based on multiple on-board sensors including altitude meter,...
The autonomous helicopter, an united project in IIM and USTC, has been carried on since Sep. 2005. The intended functions include autonomous cruise along a determinate path to the destination, and identifying & tracking the moving target on the ground guided by the stereo-vision and autopilot on-board. In case the helicopter is in an emergent or unstable state, its control is replaced by the ground...
Because most multivariable control methods are model-based, and the dynamic model for a particular small-scale helicopter which is simple enough to be practical for controller is not readily available, the identification of small-scale helicopter's dynamic model is a necessary part of any model-based control design. This paper describes the MO ESP method which uses numerically robust computation tools...
The unconventional air frames used by many small fixed-wing unmanned aerial vehicles (UAVs) pose difficulties in determining their dynamic models accurately. This is further complicated by the low Reynolds numbers flight regimes encountered by these aircraft. This paper studies the attitude flight dynamics identification of an unconventional model-scale UAV which has only two independently actuated...
This paper presents a small-scale autonomous helicopter which equipped with more compatible instrument- MP2028-UAV and a number of sensors. Within the payload capability of the model helicopter, we configure the onboard instrumentation efficiently to achieve the desire to land softly on a moving target.
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