Autonomous takeoff and landing control for a prototype unmanned helicopter

Sheng, Shouzhao; Mian, A.A.; Chao, Zhao; Jiang, Bin

doi:10.1016/j.conengprac.2010.05.009

Cited by 19 publications

(14 citation statements)

References 11 publications

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“…In particular for UH with ducted fan, results of [16] and [20] present improvement on take-off and landing dynamics. The coaxial rotors with ducted fan design has many features when compared to the classical helicopter design.…”

Section: R Esearch On Rotary Unmanned Aerial Vehicules (Ruav)mentioning

confidence: 96%

“…Both controllers depend on an adaptive estimation method using projection algorithm which has been used to avoid singularities in altitude extraction. This paper presents the system identification for a UH with ducted-fan during take-off and landing maneuvers as in [20]. A comparison between four methods: least square with QR factorization (LS-QR) [12] [6], recursive least square(RLS) [12], subspace method [24], and observer Kalman filter identification (OKID) [8] are studied.The four methods are implemented and the results compared.…”

Section: R Esearch On Rotary Unmanned Aerial Vehicules (Ruav)mentioning

confidence: 99%

“…Our approach is based on the work presented in [20]. The system considered is the prototype of unmanned helicopter (UH) as can be seen in figure 1 (for more details see [20]) .…”

Section: Dynamics Of Unmanned Helicoptermentioning

confidence: 99%

“…The system considered is the prototype of unmanned helicopter (UH) as can be seen in figure 1 (for more details see [20]) . This UH consist a fuselage with toroidal portion and coaxial rotors.…”

Section: Dynamics Of Unmanned Helicoptermentioning

confidence: 99%

See 3 more Smart Citations

LQG-based control of unmanned helicopter using OKID-based identification approach

El-Férik

Omar

Koesdwiady

et al. 2013

10th International Multi-Conferences on Systems, Signals &Amp; Devices 2013 (SSD13)

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This paper presents the system identification and control of an unmanned helicopter(UH) with ducted fan. The plant is an unstable multi-input-multi-output (MIMO) system. First, four identification methods have been considered in this work. Two of these methods studied the identification of the system as a set of transfer functions relating different inputs and outputs, namely the least square method with QR-factorization (LS-QR) and the recursive least square method (RLS). The other two methods are state-space identification method. Indeed, the classical subspace identification method and the observer-Kalman filter identification (OKID) method have been used to identify the system in state space representation. Analytical formulations of these methods as well as comparison of their performances based on their degree of fitness are presented for the special case of UH system. The results show that OKID out-performs the other methods. Based on this result, an OKID-LQGI-based controller for velocities tracking controller is proposed. The simulation results show excellent tracking performance.

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Section: R Esearch On Rotary Unmanned Aerial Vehicules (Ruav)mentioning

confidence: 96%

Section: R Esearch On Rotary Unmanned Aerial Vehicules (Ruav)mentioning

confidence: 99%

“…Our approach is based on the work presented in [20]. The system considered is the prototype of unmanned helicopter (UH) as can be seen in figure 1 (for more details see [20]) .…”

Section: Dynamics Of Unmanned Helicoptermentioning

confidence: 99%

Section: Dynamics Of Unmanned Helicoptermentioning

confidence: 99%

See 2 more Smart Citations

LQG-based control of unmanned helicopter using OKID-based identification approach

El-Férik

Omar

Koesdwiady

et al. 2013

10th International Multi-Conferences on Systems, Signals &Amp; Devices 2013 (SSD13)

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show abstract

“…Again, the studies have been conducted for ducted fan MAVs, mainly including multidisciplinary design optimization [4,5], system modeling [6][7][8], and control design [9][10][11][12]. As for the control design, Pflimlin systematically developed the aerodynamic model and the attitude and position control systems for a ducted fan MAV with considering the crosswind, gyroscopic coupling and unknown aerodynamics, and successfully demonstrated the proposed control strategies on the HoverEye platform [13,14].…”

Section: Open Accessmentioning

confidence: 99%

A Near-Hover Adaptive Attitude Control Strategy of a Ducted Fan Micro Aerial Vehicle with Actuator Dynamics

Sheng

Sun

2015

Applied Sciences

Self Cite

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Abstract:The aerodynamic parameters of ducted fan micro aerial vehicles (MAVs) are difficult and expensive to precisely measure and are, therefore, not available in most cases. Furthermore, the actuator dynamics with risks of potentially destabilizing the overall system are important but often neglected consideration factors in the control system design of ducted fan MAVs. This paper presents a near-hover adaptive attitude control strategy of a prototype ducted fan MAV with actuator dynamics and without any prior information about the behavior of the MAV. The proposed strategy consists of an online parameter estimation algorithm and an adaptive gain scheduling algorithm, with the former accommodating parametric uncertainties, and the latter approximately eliminating the coupling among axes and guaranteeing the control quality of the MAV. The effectiveness of the proposed strategy is verified numerically and experimentally.

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Ultraviolet anti-collision and localization algorithm in UAV formation network

Zhao

Liu

et al. 2019

Optik

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Autonomous takeoff and landing control for a prototype unmanned helicopter

Cited by 19 publications

References 11 publications

LQG-based control of unmanned helicopter using OKID-based identification approach

LQG-based control of unmanned helicopter using OKID-based identification approach

A Near-Hover Adaptive Attitude Control Strategy of a Ducted Fan Micro Aerial Vehicle with Actuator Dynamics

Ultraviolet anti-collision and localization algorithm in UAV formation network

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