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This paper shows a detailed modeling process for a hexacopter, taking as a control variables, the force and torques actuating on the vehicle. It also shows the hexacopter equilibrium manifold, with some numerical results that evidence the symmetry along the x and y axis. Finally, a nonlinear optimal control problem is formulated in order to see the hexacopter maneuverability capabilities, showing...
Attitude stabilization and tracking is an important issue in the flight of the Quadrotor, especially in the windy environment. This paper focus on the attitude stabilization and tracking problem, detailed mathematical modeling was proposed and two kinds of attitude control architectures were evaluated through mathematical simulations, meanwhile the zero-mean white noise was added to the control signal,...
The purpose of this study is to establish a quantitative method that can evaluate the motor function of human lower limbs in dynamic situations. As an index of motor function, we focus on the mechanical impedance characteristics of the lower limbs. By controlling these characteristics, humans can improve motion stability and adapt their movement to disturbances in the environment. In this paper, we...
This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral backstepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying...
Trajectory generator is necessary in many inertial navigation research fields. The paper gives the design method of a trajectory generator, and deduces the control equation in detail, then classifies the flight track into four fundamental stages. The trajectory generator resolves the flight track, generates specific force, angular velocity and position signals etc. To check the trajectory generator,...
In this paper we present a novel framework for computing the steady turning motion of a robotic fish undergoing periodic body and/or tail deformation. Taking the turning radius and the angular velocity as unknowns, we obtain the absolute motion trajectories of points on the ldquospinal columnrdquo of robotic fish by superimposing relative body/tail motions on the rigid body circular motion. The hydrodynamic...
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