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In this paper, we presents a comparative study of dynamic and kinematic vehicle models based on interacting multiple model(IMM) filter. It is known that the characteristics of kinematic and dynamic lateral motion models vary according to driving conditions. From the IMM filter, we can obtain the stochastically best blended state of the vehicle. Not only the performance of IMM filter but also the reliability...
A simple strategy to saturate the reference velocities when guiding an Unmanned Aerial Vehicle (UAV) to accomplish trajectory-tracking tasks is proposed. Such a controller has two parts: a kinematic controller to generate reference velocities for the vehicle and a state-variables change with a PD controller to guarantee the tracking of such velocities. This characterizes a cascade controller and guarantees...
To investigate aeroelastic effects of model flexible wings on aerodynamic performance in forward flapping flight, a monolithic approach and a MATLAB program were established and built based on the Peter's unsteady flow theory and finite element analyses. The kinematic parameters, including flapping stroke angle, flapping frequency and forward velocity were studied to investigate the effect on aerodynamics...
The Harvard Robobee is a fly-sized aerial vehicle that can perform controlled flight maneuvers. But this robot is unable to control its yaw or heading angle to a desired value. Motivated by this deficiency, we propose a new method to produce yaw-axis rotations. Termed wriggle-steering, it consists of driving body oscillations around its two other rotational axes. Because no torque is applied directly...
Modern wind energy industry is highly under the influence of the advances in aerospace and has borrowed and adopted many new and innovative concepts from that industry. With the aim of exploring potential benefits of flapping blades in wind turbines, this paper presents the preliminary results of the numerical simulation of a flapping-pitching rectangular flat plate in a uniform air flow. Various...
The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation...
For the case of precision guided munition against tanks a scheme of Integrated Guidance and Autopilot design has been discussed. The three dimensional interception problem has been resolved into two orthogonal two dimensional interception problems; the two orthogonal planes being the pitch and yaw plane. Using integrated guidance and missile autopilot system a sliding mode controller has been implemented...
Biological Inspiration for the design of flapping wing vehicles has been the source of numerous design efforts in the field of Micro Aerial Vehicle (MAV) development. For flapping flight in small birds and insects, high lift generation is typically a result of unsteady fluid flow phenomena. Our previous studies have conceptualized and demonstrated how a dragonfly inspired Quad-Winged Vehicle (QV)...
To control pitch and yaw motion of a TVC(Thrust Vector Control) nozzle with 3-DOF(Degree Of Freedom), additional apparatuses are usually required to prevent induced rolling motion. However, the supplemental devices bring hardware designers many difficulties related to the spatial arrangement of TVC nozzle and actuators. In this paper, in order to solve the problem, the type of two joints linked between...
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