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Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach
[article]
2019
arXiv
pre-print
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This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the ...
In contrast, the SPR tracking controller is derived such that the tracking error dynamics inherits the natural damping characteristic of the helicopter. ...
Throughout the study, a nonlinear coupled rotor-fuselage helicopter model with first order flap dynamics is used. Index Terms-Geometric Control, Attitude Tracking, Helicopter, Robust Control.
I. ...
arXiv:1709.05652v2
fatcat:stegilywdbefxhdgxqtvobih34
Experiments with Small Unmanned Helicopter Nose-Up Landings
2009
Journal of Guidance Control and Dynamics
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However, 6 degrees of freedom must be controlled (geometric position and attitude). ...
., “Trajectory Tracking Control Design for Autonomous Helicopters Using a Backstepping Algorithm,” Proceedings of the American Control Conference, IEEE, Piscataway, NJ, June 2000, pp. 4102-4107. ...
doi:10.2514/1.36470
fatcat:4zjmkawwbzhk5g77ifsjuozhre
Real-Time Nonlinear Embedded Control for an Autonomous Quadrotor Helicopter
2007
Journal of Guidance Control and Dynamics
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., “Robust Trajectory Tracking for a Scale Model Autonomous Helicopter,” /nternational Journal of Robust and Nonlinear Control, Vol. 14, No. 12, Aug. 2004, pp. 1035-1059. Johnson, E. ...
Many adaptive controllers have been proposed for helicopter control [18-20]. Recently, adaptive controllers have been proposed [14] for trajectory tracking of a helicopter. ...
doi:10.2514/1.27882
fatcat:ha2o455qmnbkbllhpwmnaz3ssa
Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight
2022
Robotica (Cambridge. Print)
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The proposed control structure is capable of aerobatic flight, and the Pugachev's Cobra maneuver is chosen to assess the capability of the quaternion-based SDDRE approach. ...
The application of the quaternion is exercised in quadrotor modeling and control. It changes the dynamics and represents a singularity-free attitude model. ...
Krishna et al. used the geometric control for helicopter trajectory tracking in agile flight regarding the attitude of the system [3] . ...
doi:10.1017/s0263574722000091
fatcat:hghiqn2ebvamtfbq7fvi24pthy
Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)
[article]
2011
arXiv
pre-print
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The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a nonlinear controller that solves an output tracking problem. ...
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). ...
In this paper, we make use of geometric methods to define and analyze controllers that can achieve complex aerobatic maneuvers for a quadrotor UAV. ...
arXiv:1003.2005v4
fatcat:ahb7lixcc5babnfvq55ili7qaq
Aggressive Maneuver Regulation of a Quadrotor UAV
[chapter]
2016
Springer Tracts in Advanced Robotics
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Differently from the classical trajectory tracking approach, maneuver regulation does not require following a timed reference state, but a geometric "path" with a velocity (and possibly orientation) profile ...
In this paper we design a nonlinear controller for aggressive maneuvering of a quadrotor. We take a maneuver regulation perspective. ...
Acknowledgements The work of G. Notarstefano and S. Spedicato is partially supported by the project SOCIAL-ROBOTS under the program "5 per mille per la ricerca". ...
doi:10.1007/978-3-319-28872-7_6
fatcat:gdrmy2gowjgpnbmcnlh6ka5exi
The GRASP Multiple Micro-UAV Testbed
2010
IEEE robotics & automation magazine
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Position Control Here we present two representative position control methods that use the roll and pitch angles as inputs via a method similar to a backstepping approach [18] . ...
A. Attitude Control We now present an attitude controller to track trajectories in SO(3) that are close to the nominal hover state where the roll and pitch angles are small. ...
doi:10.1109/mra.2010.937855
fatcat:onh5vxzpcbbfjb6zjiipfbhije
Modeling and Control of Inverted Flight of a Variable-Pitch Quadrotor
[article]
2017
arXiv
pre-print
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A control allocation loop is added to address the problem of nonlinearity associated with rotor torque. This is done by introducing the derivative of thrust coefficient as a virtual control input. ...
The concept is validated by showing attitude stabilization in real flight for a variable pitch quadrotor. ...
Previously, approaches like backstepping [16, 17] , sliding mode [18] , nonlinear dynamic inversion (NDI) [19] , [20] , adaptive control [21, 22, 23, 24] , have been applied to design controller for ...
arXiv:1709.06407v1
fatcat:wbzhmq5wvjdctlluxmtxt54lgi
Influence of Forward and Descent Flight on Quadrotor Dynamics
[chapter]
2012
Recent Advances in Aircraft Technology
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They have concluded that classical PID controllers achieve more robust results. ...
This controller exhibits good tracking results for simple, predefined trajectories. ...
doi:10.5772/37438
fatcat:3fscn64exng7xablm3tcrbqj44
Investigation of Multi-Input Multi-Output Robust Control Methods to Handle Parametric Uncertainties in Autopilot Design
2016
PLoS ONE
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It is demonstrated that an attitude controller built like this can function flawlessly on separate nominal cases, but can become unstable with a perturbation no more than 2%. ...
Duplicating the loop-shaping procedure for the outer loop, a complete flight control system is formed. ...
Acknowledgments The author thanks The Scientific and Technological Research Council of Turkey (TUBITAK) for funding this research under project 113E581 as well as the members of the TOBB ETU UAV Laboratory ...
doi:10.1371/journal.pone.0165017
pmid:27783706
pmcid:PMC5082684
fatcat:u7glauuwwjchnkukfatlidag2i
Modelling and Model Based Control Design For Rotorcraft Unmanned Aerial Vehicle
[article]
2017
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Designing high performance control of rotorcraft unmanned aerial vehicle (UAV) requires a mathematical model that describes the dynamics of the vehicle. ...
It is found that simplified decoupled model of RUAV has slightly better data fitting compared with the complex model for helicopter attitude dynamics in hover or near hover flight condition. ...
Similar approach is presented in (Abbeel et al., 2010b) for identifying
simple nonlinear dynamics model of a small aerobatic helicopter (XCell Tempest). ...
doi:10.26021/1337
fatcat:pmz3oapdobf3bkinwuf46rg34i
Perching Using a Quadrotor with Onboard Sensing
2011
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The perching aggressive maneuver is representative of a class of control problems for aerobatics that requires an agile and robust control system for maneuvering accurately at high speeds. ...
To achieve this, three major challenges are overcome: precise and real-time positioning, sensing of the perch and path to the perch, and control methods for robust and accurate tracking at high speeds. ...
Implementing a combination of these approaches enables fast and effective mapping with very robust tracking. ...
doi:10.26076/a220-96ad
fatcat:ue5hkh32ifdurb2sjxvbvqmxwm
Recent advances in mechatronics
1996
Robotics and Autonomous Systems
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Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan). ...
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or ...
Acknowledgements This research is part of a research programme funded by the New Zealand Foundation for Research Science and Technology, New Zealand, project UOO808. ...
doi:10.1016/s0921-8890(96)00039-5
fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy
Adaptive Robust Attitude Controller Design for a Quadrotor Platform
2014
AIAA Atmospheric Flight Mechanics Conference
unpublished
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With the aid of sensors on the off-the-shelf platform, the controllers are designed to enact tracking of the reference commands that contain the desired trajectories and attitudes. ...
Besides, by employing correction approaches, the advancement of the controller in terms of robustness is examined where dead zone implementation, e-and sigma-modifications are exploited. ...
It was a great honour to work with him for the last three years and our cooperation influenced my academical view highly. When I requested his help during ...
doi:10.2514/6.2014-2671
fatcat:zvonalzz6fhjbkirsllllo5gb4
MOBILE ROBOTS CONTROL AND PATH PLANNING STRATEGIES
unpublished
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Of course the family deserves a huge hug and thanks. ...
The main capability of mobile robots to accomplish a typical mission is the mobility in the work environment. It may seems a simple task for humans, but for mobile robots there are many challenges. ...
Backstepping control design has been proposed in [34] in order to perform aggressive maneuvers by considering the dynamics of a model helicopter, and in [22] by considering a hybrid controller able ...
fatcat:62qa6wydhvac3amnseznh3ivfa