A Detailed Nonlinear Dynamic Model of a 3-DOF Laboratory Helicopter for Control Design

Brantner, Gerald; Fuchs, Georg; Schirrer, Alexander; Jakubek, Stefan

doi:10.3182/20120215-3-at-3016.00038

Cited by 3 publications

(1 citation statement)

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“…They demonstrated that the signal-parametric control gave faster transients at the cost of more forced control; however, adaptive PID control gave smooth and slow transients with moderate control level. Also, Brantner et al (2012) and Kutay et al (2005) have implemented a diverse set of controllers to illustrate their advantages and shortcomings. The literature is rich with many other researchers who utilized the Quanser system, and, for a while, there have been discussions with regards to evaluation and benchmarking of intelligent robots.…”

Section: Testbeds Developmentsmentioning

confidence: 99%

UAV Testbed Training Platform development using Panda3d

Annaz

2015

Industrial Robot: An International Journal

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2015),"Tracking and following pedestrian trajectories, an approach for autonomous surveillance of critical infrastructures", If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The paper aims to report the development of an Unmanned Aerial Vehicle (UAV) Testbed Training Platform (TTP). The development is to enable users to safely fly and control the UAV in real time within a limited (yet unconstrained) virtually created environment. Thus, the paper introduces a hardware-virtual environment coupling concept, the Panda3D gaming engine utilization to develop the graphical user interface (GUI) and the 3D-flying environment, as well as the interfacing electronics that enables tracking, monitoring and mapping of real-time movement onto the virtual domain and vice verse. Design/methodology/approach -The platform comprises a spring-shuttle assembly fixed to a heavy aluminium base. The spring supports a rotating platform (RP), which is intended to support UAVs. The RP yaw, pitch and roll are measured by an inertial measurement unit, its climb/descend is measured by a low cost infrared proximity sensor and its rotation is measured by a rotary optical encoder. The hardware is coupled to a virtual environment (VE), which was developed using the Panda3D gaming engine. The VE includes a GUI to generate, edit, load and save real-life environments. Hardware manoeuvres are reflected into the VE. Findings -The prototype was proven effective in dynamically mapping and tracking the rotating platform movements in the virtual environment. This should not be confused with the hardware in loop approach, which requires the inclusion of a mathematical model of the hardware in a loop. The finding will provide future means of testing navigation and tracking algorithms. Research limitations/implications -The work is still new, and there is great room for improvement in many aspects. Here, this paper reports the concept and its technical implementation only. Practical implications -In the literature, various testbeds were reported, and it is felt that there is still room to come up with a better design that enables UAV flying in safer and unlimited environments. This has many practical implications, particularly in testing control and navigation al...

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Section: Testbeds Developmentsmentioning

confidence: 99%