相关论文: First Principle Approach to Modeling of Small Scal…

This paper presents how to use feedback controller with helicopter dynamics state space model. A simplified analysis is presented for controller design using LQR of small scale helicopters for axial and forward flights. Our approach is…

A model helicopter is more difficult to control than its full scale counterparts. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This works is focused on designing…

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

This is an intuitive introduction to classic sliding mode control that shows how the associated assumptions and condition for its use arise in the context of a derivation of the method. It derives a controller that obviates the need for the…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

This letter considers model predictive control of a tandem-rotor helicopter. The error is formulated using the matrix Lie group $SE_2(3)$. A reference trajectory to a target is calculated using a quartic guidance law, leveraging the…

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 available states for feedback. 1. The…

This chapter provides a tutorial overview of first principles methods to describe the properties of matter at the ground state or equilibrium. It begins with a brief introduction to quantum and statistical mechanics for predicting the…

Reduced-order modelling and system identification can help us figure out the elementary degrees of freedom and the underlying mechanisms from the high-dimensional and nonlinear dynamics of fluid flow. Machine learning has brought new…

A rotorcraft-based unmanned aerial vehicle exhibits more complex properties compared to its full-size counterparts due to its increased sensitivity to control inputs and disturbances and higher bandwidth of its dynamics. As an aerial…

We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full…

Learning controllers from data for stabilizing dynamical systems typically follows a two step process of first identifying a model and then constructing a controller based on the identified model. However, learning models means identifying…

Time-invariant linear dynamical system arises in many real-world applications,and its usefulness is widely acknowledged. A practical limitation with this model is that its latent dimension that has a large impact on the model capability…

We present a framework for constructing a first-order hyperbolic system whose solution approximates that of a desired higher-order evolution equation. Constructions of this kind have received increasing interest in recent years, and are…

This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…

The mathematical modeling and the stability analysis of multi-lane traffic in the macroscopic scale is considered. We propose a new first order model derived from microscopic dynamics with lane changing, leading to a coupled system of…

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…

Miniature robotic blimps, as one type of lighter-than-air aerial vehicles, have attracted increasing attention in the science and engineering community for their enhanced safety, extended endurance, and quieter operation compared to…