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The space station modules form various configuration at different mission phase, and large scale robotic arm is one of the ways to realize the assembly of space modules on orbit. This paper made integrated simulation of dynamics and controlling models about aerocraft and 7-Dof rigid-flexible coupling robotic arm by Simulink and ADAMS. It makes the simulating analysis of the process of robotic arm...
This paper presents a systematic and comprehensive modeling approach for the derivation of a nonlinear dynamic model of a unmanned aerial vehicle (UAV) quadrotor. The model incorporates a couple of significant aerodynamic effects impacting on the quadrotor flight in different regimes. The controller is accordingly designed to accommodate both specific and uncertain dynamics of the quadrotor. The control...
This paper is aiming for improving new ways of aerodynamic analysis and high efficiency flapping motion design methods of flapping wing aircrafts, or ornithopter. The concept of Undulate Propulsion wave is put forward to better describe propulsive mechanism and it is found to be determinant of flapping wing aerodynamic efficiency. Based on relative conclusion and rigidity theory, a top-down design...
This paper proposes a general control-oriented non-linear model for floating offshore wind turbine systems. It contains as many as six platform degrees of freedom as well as the rotor degree of freedom, and can account for full field wind and wave disturbances. Additionally, it accepts individual blade pitch, generator torque and yaw control inputs. The model is derived by assuming that the entire...
This paper focuses on control of a multiagent system of high-altitude balloons, and provides an efficient method to synthesize decentralized controllers for very large systems. Feedback laws are synthesized using a novel method which maintains the distributed structure in the balloon system: the balloons' geometry imposes a block circulant pattern in the system matrices, and the synthesis method guarantees...
We consider the modeling aspects of an airborne wind energy (AWE) system which consists of a kite (or glider aircraft) with a tether connected between the kite center of mass and a generator (load) on the ground. Kites in AWE systems move in high-speed crosswind motion at several times the wind velocity to efficiently harness wind energy. Central to the controller design for maximum power generation...
This paper addresses the problem of designing a speed limiter for an electrically assisted kick scooter. A control-oriented model of the longitudinal dynamics is first derived, by taking into account the scooter/human interaction. A coasting-down experiment is then carried out for parametric identification. Two different speed limiting architectures are finally studied and experimentally tested: a...
Flexible membrane wings have many advantages, but has very little roll control authority. In this paper, the flexible membrane wing is actuated using a tendon-sheath mechanism to achieve roll control and also allowing the wing to fold. The characteristics of the flexible wing, as well as the wing warping actuation approach is discussed in this paper. The experimental setup and results are shown. The...
In this paper the detailed design process of μ-synthesis for a modified small-scaled unmanned gyroplane is presented. Firstly, a comprehensive nonlinear model of gyroplane is established, which is of inherent instability and with the longitudinal and lateral dynamics highly coupled. Therefore, the design of flight controllers is not straightforward as for the conventional gyroplane. The μ-controller...
This paper presents the results of system identification (system ID) of a small fixed-wing low-cost unmanned aerial vehicle (UAV). The system ID estimates the aerodynamic coefficients of the linear longitudinal equations of motion using batch least squares enhanced with an Error Filtering Online Learning (EFOL) scheme. EFOL estimates the state derivatives using filtering without taking the derivative,...
Electric driven public transportation systems have shown to be a solution to traffic congestion and its related pollution level in cities. Additionally, when compared with the traditional internal combustion engine (ICE), the electric driven mode of transport is much more efficient especially when regenerative braking is used. This paper took a step farther and compared two most common electric public...
This paper presents a computational framework for an optimal aerodynamic blade design. Analysis of the wind turbine rotor is conducted using blade element momentum (BEM) theory. The geometric parameters of the wind turbine also have been calculated by BEM theory. The methodology and design approach is discussed in detail throughout this paper. A small three-bladed horizontal axis wind turbine (HAWT)...
In this paper, we extend our previous external wrench estimation scheme for flying robots with an aerodynamic model such that we are able to simultaneously estimate aerodynamic and contact forces online. This information can be used to identify the metric wind velocity vector via model inversion. Noticeably, we are still able to accurately sense collision forces at the same time. Discrimination between...
In this work, we present a model-based estimation scheme for multi-rotor Micro Aerial Vehicles (MAVs). Although modeling approaches for MAVs have been presented in the past, these models have rarely been used for real-time state estimation onboard MAVs. Building on this work, we identify the most dominant effects and propose an easy-to-use calibration scheme for estimation of the model parameters...
Recently, many aerodynamic problems are arising under the quickly developments of supersonic and hypersonic flight ve hides, such as boundary layer separation, flight drag force in creasing, etc. Differencing with the passive flow control methods, the active method attracts more and more attention and becomes one of the most booming realms of aerodynamics. Among kinds of methods, the approach of non-equilibrium...
In this paper a simple Lagrangian model of the mechanical dynamics of a helicopter is presented that incorporates the energy associated with the rotation of the main rotor blades. This is a novel approach in comparison to the existing models proposed in literature. Using the proposed model a passivity based design of a unified path tracking control algorithm is obtained that combines position and...
We present a disturbance rejection mechanism for the formation flying of multiple spacecraft based on a robust control approach in terms of an H∞ control problem. The corresponding H∞ control problem is then solved numerically using linear matrix inequalities.
This paper applies the nonlinear H∞ control theory to helicopter hovering manuver whose complete six degree-of-freedom nonlinear equations of motion with coupled rotor and inflow dynamics are considered directly without linearization. Under this approach, the exact nonlinear equations governing both the longitudinal and lateral motions are considered. The control surface inverse algorithm (CSIA) developed...
This paper describes design, simulation, fabrication, and testing of a miniature wind energy harvester based on a flapping cantilevered piezoelectric beam. The wind generator is based on oscillations of a cantilever that faces the direction of the airflow. The oscillation is amplified by interactions between an aerofoil attached on the cantilever and a bluff body placed in front of the aerofoil. A...
Using helicopters to deliver supplies to forward ground units in high-threat environments can lead to increase in troop mobility and enlarge the area of operation. However, flying a limited aircraft performance due to slung load in a high-threat area could increase the pilots' workload significantly. The goal of the work was to develop an outer-loop control law to help pilot in controlling helicopter...
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