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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,...
In this study, we aimed to develop a dragonfly-like flapping robot with four wings and achieve advanced flight such as hovering and sudden turn. We developed a two-wings-flapping-robot that links the flapping motion moving the wing up and down and feathering motion twisting the wing and perform at the same time. Next, we investigated the performance of the developed robot whether it's possible to...
Taking KT-1A satellite in practical flight as the research object, this paper adopts LOR infinite horizon periodic controller to perform the three-axis stabilized attitude control, and the magnetorquer is taken as the only actuator. It specially studies the application constraints produced by different assumptions in the mathematical model which may not be met in actual projects, including that the...
The aim of this paper is to propose an optimum linear control algorithm that is able to stabilize the attitude of a hexarotor micro aerial vehicle (MAV) in indoor environment. The work will then compare it with the classical control PID (proportional-integral-derivative) and optimal control LQR (linear quadratic regulator) techniques. The proposed attitude controller is based on an outer-inner loop...
This paper employs a nonlinear disturbance observer (DOB), developed recently, to design a robust trajectory tracking controller for quadrotors. We prove that the proposed controller recovers the performance of the nominal closed-loop system under parameter uncertainties and disturbance torques. The results are validated through simulations and compared with a previous approach.
Satellite attitude control systems have too many dynamic variables for all cases of operation. Therefore, their tests for all these conditions may not be possible or may require highly specialised test environments. As an alternative to these time consuming and expensive methods, real time digital simulation and hardware in the loop methods that are developed in the latest years can be used. This...
Due to the parametrization of the attitude for closed loop rigid body systems we either encounter an inherent geometric singularity using Euler representation, or obtain dual equilibrium points using the unit quaternion. In order to save energy during attitude maneuvers the choice of equilibrium point and thus rotational direction is imperative for quaternion feedback systems. Normally the shortest...
This paper is about modeling and control of Miniature Aerial Vehicles -MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs have been hardware-modified in order to perform experimental...
In order to improve the ability of the mobile penetration, Single Gimbal Control Moment Gyroscopes (SGCMGs) are adopted instead of the control fins and vector thrusters to produce the torque for the attitude control of the reentry warhead. Under the assumption of indifferently static stability, attitude controller is designed for the warhead based on Lyapunov theory. And also, a pseudo-inverse steering...
In this paper a result on attitude tracking problem of mobile robot without velocity measurement and within the physical limits of actuator by the development of a novel Lyapunov function based on quaternion feedback is presented. The attitude of the rigid body is represented by unit quaternion, and introduces an auxiliary dynamical system whose output is used in the attitude tracking error. The analysis...
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