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In view of problem for miniaturizing Micro Air Vehicles (MAV), a novel asymmetrical pitch system faced to rotary wing MAV is introduced. The pitch mechanism and control characteristics are studied and analyzed. Because the deformation of elasticity link is key to generate the blade pitch, it is analyzed and calculated by elasticity finite element method. And the results illustrate the linear relationship...
This paper describes about adaptive neural controller (ANC) to stabilize an Autonomous Mini Aircraft Quadrotor (AMAC-Q) as Unmanned Aerial Vehicle (UAV) by using Model References Adaptive System (MRAS) as control scheme.
Single Rotor based Vertical Take Off and Landing systems are more prone to stability issues than normal aircraft. The main factors causing instability are anti torque, pitching and rolling. Anti torque, which causes the body of the aircraft to turn in the opposite direction to the rotor, is generated as the engine turns the rotor against the air. Pitching and rolling, on the other hand, can be caused...
Four rotors flyer(FRF) is difficult to control because its control system is a multi-inputs and multi outputs with characteristics of nonlinear, strong coupling and sensitive to disturbance. In this paper, several intelligence control methods including genetic algorithm(GA), immune algorithm(IA), radial basis function(RBF), fuzzy system(FS) are used to control the flyer and the performance is analyzed...
This article presents one solution to a quadrotor control problem that is based on a discrete automaton. This automaton combines classical PID and more sophisticated LQ controllers to create a hybrid control system. This closed loop control concept is expanded with an open loop controller that enables the aircraft to perform aggressive flying maneuvers. The combination of open and closed loop controllers...
In this paper, a tri-rotor aircraft is designed, which can vertically take off and land, and moreover fly forward with a high speed. Two fixed wings are added to the tri-rotor aircraft, therefore, the ability of high-speed forward flight is guaranteed. A controller is presented using back-stepping technique to achieve mode transition control of the aircraft. Finally, the theoretical result is confirmed...
The introduction of two types of unmanned aerial vehicles into a production of A Midsummer Night's Dream suggests that social proof informs untrained human groups. We describe the metaphors used in instructing actors, who were otherwise untrained and inexperienced with robots, in order to shape their expectations. Audience response to a robot crash depended on whether the audience had seen how the...
This paper presents the solution to a quadrotor control problem based on a discrete automaton that, in combination with classical PID controllers, creates a hybrid control system. Some modifications to the known and widely used mathematical model of quadrotor aircrafts are also discussed in this paper. The paper shows an open loop control concept that flies the aircraft into looping. Finally, the...
We propose robust adaptive control designs for a twin-rotor aircraft with specific focus on attaining good disturbance attenuation properties to facilitate operation in a shipboard environment wherein the aircraft is subject to severe aerodynamic disturbances including ship airwake, deck vortices, and rotor downwash especially during ship roll and pitch motions. Furthermore, the controllers can operate...
This paper presents a preliminary study of the chaotic behavior of servo-flap mid-span bending of a four-blade helicopter during hover, low and high-speed forward flights. The servo-flap vibratory measurement was used to create state vectors in a multidimensional space through time-delay embedding, and the trajectory of state vectors in the reconstruction state space was quantified using the correlation...
A general technique for generating specifications for integrated flight propulsion control is extended to include systems with significant two-way coupling between the flight and propulsion systems. These specifications define how the subsystems must perform within an integrated control system in order to assure that performance goals (specifically stability) are met when the subsystems are combined...
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