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After contact with receiver aircraft, the nozzle of flying boom is locked into the receptacle of receiver which may generate a dangerous radial constrained force (RCF) with disturbance from environment. This paper presents a novel control method to eliminate the RCF. Based on the existing altitude dynamic function, the unloading dynamic model can be achieved by putting the RCF into the existing dynamic...
Half-Rotating Wing (HRW) is a new type of analogous flapping wing system with rotating flapping used as a substitute for oscillating flapping. Estimating method of flight lift generated by HRW was one of the significant theoretical basis to design air vehicle. The working principle of HRW based on Half-Rotating Mechanism (HRM) together with the spanwise airflow and chordwise airflow generated during...
The tail-sitter unmanned aerial vehicle (UAV) is a kind of vertical take-off and landing (VTOL) UAV which has the merits of both fixed-wing and rotary-wing. The tail-sitter UAV in this paper has three flight modes. The most important stage is the transition stage. The model for the transition stage is established and a transition flight strategy is constructed so that the UAV can change vertical takeoff...
In this paper, a fuzzy tracking control strategy for a quad-rotor unmanned aerial vehicle (UAV) with strongly coupling is put forward based on the Takagi-Sugeno(T — S) fuzzy error model. Firstly, The quad-rotor system is divided into altitude subsystem, position subsystem and attitude subsystem, selecting appropriate premise variables, the attitude, altitude and position T — S fuzzy error models are...
A tail-controlled BTT missile with flaps control is presented. First, we derive the nonlinear system model of the six-degree-of-freedom with two inputs. Based on choosing the angle-of-attack and roll angle as output variables, the internal dynamics of the system are analyzed by using differential geometry method, and are proved to be stabilized. An autopilot is designed by using the feedback linearization...
The establishment of flight control system parameters modeling and fault simulation is the basis of fault diagnosis. In this paper, the flight control system simulation model is established by MATLAB / SIMULINK. We describe the modules and implementation methods of the flight control system parameters modeling in detail. In addition, the simulation of the failure mode and realization is introduced...
Structural Health Monitoring (SHM) provides a comprehensive assessment of structural state and damage based on monitoring structural parameters. It has definite practical significance in extending the service life of the structure, reducing the maintenance cost and improving the safety and reliability of the structure. In recent years, there were many aircraft faults founded in the aileron control...
In this paper, the dynamics of a flapping wing vehicle are studied. A quasi-steady model is developed to analyze its aerodynamic forces and moments. The unsteady effects are considered both in hovering state and forward flight state. Different from existing flapping wing vehicle dynamics model, the rudder's dynamics are concurrently considered in the proposed one. Numerical simulation is conducted...
A novel switchable multiple-mode sensor fusion algorithm for attitude estimation of quadrotor is proposed in this paper. It is a robust algorithm which shows good performance in flight conditions where sustained translational acceleration and wind disturbance exist. This algorithm is based on quaternion-based extended Kalman filter (EKF) in direct configuration and uses measurements from a strap-down...
In this paper, the synthesis method, self-stable region (SSR) approach, is applied to uncertain and time delay system. The chattering phenomenon is the main drawback of sliding mode control (SMC), and the response delay of actuators is a primary cause. However, the existence of time delay is common in real world. The SSR approach is an improvement for SMC method. A simple second order system with...
This paper explores the longitudinal control problem of an autonomous car in legal speed range. The goal is to develop a longitudinal controller that does not rely on vehicle identification parameters, while being capable of tracking the speed profile with comfort acceleration. A modification of a Model Reference Adaptive Control (MRAC) technique found in literature has been deeply studied and implemented,...
This paper presents a systematic control synthesis method in order to achieve auto-transition for KH-Lion, a tail-sitter hybrid UAV. Although there are huge potentials in various applications of the hybrid tail-sitter UAVs, the transition between vertical take-off and landing mode and cruise mode is still a challenge now. Due to the complex behaviour that the transition can generate, it is very difficult...
This work describes the design, fabrication, and assembly of a MEMS aerodynamic control surface for use in millimeter-scale rockets and other miniature aerial vehicles (MAVs). Aerial vehicles of this scale require very small and light control surfaces to operate effectively. We designed MEMS aero-dynamic control surfaces using electrostatic inchworm motors and planar silicon pin-joints. These were...
Single engine failure is a typical asymmetric problem for twin-engine carrier-based aircraft, which induces rolling and yawing divergence and aggravates takeoff performance during catapult launch. Multi-agents dynamics model integrated with aircraft, carrier and sea level atmosphere is established for the analysis of departure characteristics. Numerical simulation results reveal that lateral-directional...
Researches on unmanned aerial vehicle (UAV) formation control are attracting more and more researchers' attention. Obstacle avoidance is a key problem of UAV formation. In this paper, an improved artificial potential field (APF) method is proposed for solving the problem of UAV formation control with obstacle avoidance in a complex environment. Point-mass models with kinematic constraints have been...
Quadrotors are becoming a major platform for both industrial and research activities, increasing the requirements for precise and dynamic control. Best control can be achieved by directly controlling the individual rotor thrust forces, which, during flight, can only be estimated. An identification of the thrust generation mechanism, and subsequent exploitation of this relation in the quadrotor's command...
In this paper, we propose a nonlinear acceleration controller that can be used for both the endo- and exo-atmospheric interceptors with thrust vector control (TVC) without changing the control configuration. The acceleration perpendicular to the velocity vector is selected as the output to be controlled. Then apply the feedback linearization and the specific form of the desired error dynamics to create...
This paper expands the two-dimensional control laws for agile turn of air-to-air missile during initial boost phase to three-dimensions. Optimal solution for agile turn is obtained in vector form using optimal control theory with simplified Pseudo-spectral missile dynamics model. Both cases with and without analytical solution are reviewed. Collision triangle conditions are obtained from vector geometry...
Vehicles with adaptive cruise control (ACC) are an important component of smart and (semi-) autonomous roads and highway systems. These systems are envisaged to handle a large volume of manually driven and autonomous vehicles, ensuring smooth traffic flow. A reliable model capturing the dynamics of a vehicle is essential for developing techniques for model-based adaptive cruise control. The existing...
In this paper, a dynamic model of six degrees of freedom microcopter equipped with a robotic arm has been formulated using Newton-Euler's method. This microcopter configuration wasn't covered in scientific papers before. The resulting model is a nonlinear, coupled, and underactuated dynamic model, which includes aerodynamic effects and disturbances because of equipping the microcopter with a robotic...
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