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Use of a rotor type UAV that can perform three-dimensional movement and hover is being actively pursued. Although a multi-rotor type UAV is important, because it is driven by electric motors its application has the limitation of a short cruising time. In this study, the composition and control system of a single rotor UAV that achieves attitude control by pivotable vertical fins are proposed. Herein,...
For a magnetically suspended flywheel (MSFW) with two degree of freedom radial magnetic bearings (2-DOF RMBs), both the Vernier-gimballing control method and the Vernier-gimballing characteristics are researched to make the spinning rotor tilt around the radial axes by a pair of 2-DOF RMBs to generate a large torque. The process of Vernier-gimballing is analyzed and the model of rotor's Vernier-gimballing...
Mechanical wear and stiction can be eliminated by using magnetic bearings instead of ball bearings in spacecraft reaction wheels. Accordingly, the lifetime of attitude control systems can be increased and a smooth torque can be achieved also at speed zero crossings. Moreover, the microvibration emission of the reaction wheels can be minimized and actively controlled. A further advantage of magnetically...
The study of Unmanned Aerial Vehicles (UAVs) has grown fast recently, and various applications have been developed. This paper presents a design and implementation of attitude control of a co-axial octocopter (CAO). The dynamic model of a CAO is obtained from making the configuration similar to a quadcopter. In order to stabilize the attitude control of CAO, we propose a Fuzzy+PID design of the attitude...
This paper introduces a Miniature Aerial Vehicle (MAV) which is Autonomous in outdoor environment. Main contributions of this research are both new trajectory tracking and attitude control scheme in real flight mode. This MAV is based on a traditional quadrotor. For stabilization of the quadrotor’s attitude a PID controller is utilized. The proposed controller is designed such that to be able to attenuate...
In this paper, we address the attitude and vertical stabilization problem for small-scale helicopters. An emergency controller that would successfully stabilize the helicopter in a safe flight mode when a pilot/autopilot fails to control it, owing to unexpected reasons, is of outmost importance in flight control systems. In this direction, we propose a low complexity nonlinear control scheme that...
This paper presents a simple design of a disturbance observer (DOB) for a quad-rotor system. To achieve robust attitude control of a quad-rotor system against disturbance, DOB is employed. Based on the conventional DOB structure, a proposal of simple modification allows an efficiency of calculation for estimating the disturbance term. The proposed DOB does not require the delayed calculation so that...
We discuss the development of a mini-quadrotor system for indoor application at Konkuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff airframe made of carbon fiber composite material. The attitude control system consists of a stability augmentation system as the inner loop control and a modern control approach...
This paper presents a visual feedback control of a small UAV using image-based visual servoing with stereo vision. In order to control the orientation and the position of flying robot with respect to an object or target well defined, we propose to use a navigation system based on binocular vision system combined with inertial sensors. This combination of sensors, allows us to get a complete characterization...
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