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This paper considers the problem of convoy protection missions using a fixed-wing Unmanned Aerial Vehicle (UAV) in scenarios where the radius of the circular region of interest around the convoy is smaller than the UAV minimum turning radius. Using the Moving Path Following (MPF) method, we propose a guidance algorithmic strategy where a UAV moving at constant ground speed is required to converge...
In this paper, the hybrid fuzzy-PID controller for a coaxial rotor helicopter is developed as a supplement to the conventional PID controller. The coaxial rotor helicopter uses one motor and two swash plates linked to each other. The helicopter system is modeled by nonlinear dynamics. The PID control system works well with a moderate velocity change. However, it provides unsatisfactory performance...
The versatility of the quadcopter as one of the most flexible aerial vehicle has earned its spot as a favourite for drones and hobby projects. Conventional quadcopters are in use today, which consists of four propellers attached to four motors on the quadcopter body. The propellers are paired such that the opposite pairs rotate in the same direction whereas the adjacent pairs rotate in the opposite...
An optimization problem based on discrete-integer and continuous variables in order to design a multirotor for a specific application (maximum thrust-to-weight and maximum flight time) is developed. We considered the length and the diameter of the rods as continuous variables and the selection of the motors, propellers, and battery as discrete-integer variables, the components selected are available...
An extended Kalman filter (EKF) is developed on the special Euclidean group, SE(3) for geometric control of a quadrotor UAV. It is obtained by performing an extensive linearization on SE(3) to estimate the state of the quadrotor from noisy measurements. Proposed estimator considers all the coupling effects between rotational and translational dynamics, and it is developed in a coordinate-free fashion...
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