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For a four-rotor mini helicopter, an adaptive controller is presented based on Immersion and Invariance (I&I) approach. Although there are many aerodynamic coefficients such as thrust coefficients and drag coefficients with uncertainty in the model, a new parameterization with a fewer uncertain coefficients is developed to simplify the complex multivariable parameter adaptation. It is shown that...
An alternative way to control a nonlinear system, such as a two Degree Of Freedom helicopter, is the linearization of the model around an equilibrium point, in this case, an equilibrium point around the Pitch angle. Subsequently, the design a Robust Controller for this system is done, using a the DK iteration method. However, when a variation of an angle such as its uncertainty is modeled, the performance...
This paper presents design and implementation of a Shunt Active Filters (SAF) for aircrafts power networks using an accurate wide-band current control method based on Iterative Learning Control (ILC). The SAF control system is designed to compensate harmonic currents, within a 400 Hz supply voltage. This work introduces useful design strategies to increase the error-decay speed and improve the robustness...
Conventional fossil fuel powered unmanned aerial vehicle (UAV) has limited flight range which totally depends on the fuel it carries. Too much fuel on board is not possible for the airplane application due to weight limitation. In addition, fossil fuels produce emissions and pollutants. The most favourable candidate energy source to power the UAVs is solar energy. With the PV panel and energy storage...
Engineering solutions to surveillance operations in wide areas are based on the integration of manned aircrafts and Unmanned Aerial Vehicles in complex System-of-Systems (SoS) architectures. The selection of one specific architecture depends on a very large set of parameters and constraints related to the surveillance scenario, target statistics and the availability of limited resources such as electro-magnetic...
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