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Tumbler system is a self-stabilized platform and its mechanical structure and premium stability properties can be used for designing coaxial helicopters without using stabilizer bar or flyer bar. The advantage of adopting a tumbler structure in coaxial helicopters is that it will replace traditional stabilizer bar or flyer bar to greatly stabilize flying attitude as well to reduce the structure complexity...
Many works have been done for controlling nonlinear systems using bio-inspired methods. In this paper, we propose an optimal intelligent controller for an Unmanned Aerial Vehicle (UAV). The controller consists on a type-2 fuzzy system with defuzzifier step was determined through Ant Colony Optimization algorithm (ACO). It is known that, ACO and Particle Swarm Optimization (PSO) algorithm are the most...
Two time-scale model based adaptive control method is proposed for a helicopter to overcome wind disturbances in this paper. Wind disturbances are considered as a mixture of four sinusoidal signals with unknown frequencies, amplitudes and phases. The controller is designed based on the concept of time-scale separation, which has the advantage of decoupling of the rotational and translational dynamics...
In this paper a novel optimal hierarchical controller for a quadrotor is proposed. It is based on optimal control theory and backstepping technique. The used dynamic model of the quadrotor is obtained via Euler-Lagrange formalism and written in a convenient canonical form which represents three interconnected subsystems: under-actuated subsystem, fully-actuated subsystem and propeller subsystem. This...
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