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A complete flight control scheme with detailed design methodology is proposed for an indoor miniature coaxial helicopter with fixed collective pitch. To avoid system complexity and the problem of minimum phase control, the helicopter dynamic model is decomposed into two cascaded subsystems: an inner one for attitude and heading control and the outer one for trajectory control. H-infinity control technique...
Obstacle avoidance is one of the most challenging problems for the topic of UAV indoor navigation. In this paper, an indoor obstacle avoidance strategy based on Scanning Laser Range Finder (SLRF) is developed, so that high-level flight commands and flight paths can be generated for an unmanned coaxial rotorcraft in real time. The developed strategy comprises three flight modes including hovering turn,...
The paper presents a control scheme to the formation flight of a pair of unmanned rotorcraft. A leader-follower formation strategy is adopted and it is realized by utilizing the robust and perfect tracking (RPT) control approach. More specifically, individual RPT flight control laws are implemented in each aircraft, while the measurements from its neighbor and its own sensors are both taken into account...
This paper presents a thorough structural analysis to a helicopter dynamic model using the special coordinate basis decomposition technique, which is capable of capturing the structural properties of a given system, such as the finite and infinite zero structures as well as the invertibility structures in different actuator/sensor configurations. They are important to guide a successful control design...
The objective of the paper is to design the control system of following a predefined 3D path while maintaining a specified flight speed and considering the timing constraint. This can be accomplished by a cascaded solution framework based on theoretical dynamic error modeling. The controller for each loop can thus be designed separately so that the design problem is simplified and the control system...
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