Automatic guidance and control laws for helicopter obstacle avoidance

Cheng, Victor H. L.; Lam, T.M.

doi:10.1109/robot.1992.220254

Cited by 16 publications

(3 citation statements)

References 11 publications

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“…A previous feasibility study has verified that, with the synthesis of a nonlinear guidance and control system in a simulation based on a B-737 model, the aircraft can achieve high-precision taxi control [16]. The study applied a form of feedback linearization [28][29][30][31] to design the Auto-Taxi Control function of Figure 5.…”

Section: Fargo Auto-taxi Functionmentioning

confidence: 99%

Airport Surface Operation Collaborative Automation Concept

Cheng

2003

AIAA Guidance, Navigation, and Control Conference and Exhibit

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Limitation in airport runway throughput naturally constrains traffic capacity. For this reason, the increasing demand on capacity ultimately will require airport expansion to increase the number of runways and associated taxiways. Often the airport expansion plans necessitate an increase in the complexity of surface traffic, leading to a decrease in surface traffic efficiency, which is reflected as an increase in taxi delays. Consequently any concept to increase airport traffic capacity needs to take into account efficiency issues such as taxi delays as well as safety and operator workload issues. This paper introduces a collaborative automation concept being developed under the Surface Operation Automation Research (SOAR) to address some of these issues in a complex airport environment. The concept is enabled by advanced technologies envisioned for the 2020 time frame. It involves surface traffic management (STM) automation to aid tower operation, and flight-deck automation to help execute clearances generated by the STM automation for efficient surface operation. The functions of and integrated operation between these automation components are described, together with an assessment of enabling technologies in communication, navigation, and surveillance. Plans for evaluating the collaborative concept prior to full-scale technology development are discussed.

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Section: Fargo Auto-taxi Functionmentioning

confidence: 99%

Airport Surface Operation Collaborative Automation Concept

Cheng

2003

AIAA Guidance, Navigation, and Control Conference and Exhibit

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“…This study applies a form of feedback linearization [7]- [9] to design the control function in the inner loop of Figure 2. Figure 3 illustrates the design concept.…”

Section: Iii21 Control Loop Structurementioning

confidence: 99%

A study on aircraft taxi performance using nonlinear feedback control

Cheng

Sharma

Foyle

1999

Guidance, Navigation, and Control Conference and Exhibit

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Whenever traffic density becomes so critically high that it begins to jeopardize efficiency and safety, the answer lies in the ability to improve traffic coordination and movement precision. This study considers the surface-traffic problem at major airports, and establishes the possibility of highprecision taxi operations by applying state-of-the-art automatic control technologies. Due to the highspeed environment, high-precision taxi is most difficult on or across the runway, where such ability is also potentially most beneficial. In this study, a nonlinear guidance and control system is synthesized and its potential performance in high-precision taxi control is verified, including the ability to taxi continuously immediately after landing to cross an adjacent runway with the tightest of time margin. I.

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“…Undoubtedly, some of the early pioneers in autonomous navigation for helicopters worked at NASA Ames Research Center. In the 1980's and 1990's they have published a series of papers highlighting some techniques developed for automatic Nap-Of-theEarth flights such as computer vision (Sridhar and Cheng, 1988), integration of active and passive sensors (Cheng and Sridhar, 1990), design of control strategies tested in 3D computer simulations Cheng and Lam, 1992;Zelenka et al, 1993). In the beginning, the authors developed 2D models of the environment and later on they extended the path search techniques to 3D in order to obtain a low-altitude guidance system for military helicopters.…”

Section: Introductionmentioning

confidence: 99%