Trajectory control of miniature helicopters using a unified nonlinear optimal control technique / Ming Xin in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 133 N° 6 (Novembre 2011)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 14 p. Titre : Trajectory control of miniature helicopters using a unified nonlinear optimal control technique Type de document : texte imprimé Auteurs : Ming Xin, Auteur ; Yunjun Xu, Auteur ; Ricky Hopkins, Auteur Année de publication : 2012 Article en page(s) : 14 p. Note générale : Dynamic systems Langues : Anglais (eng) Mots-clés : Aircraft control Helicopters Mobile robots Motion Nonlinear systems Optimal Position Vehicle dynamics Index. décimale : 629.8 Résumé : It is always a challenge to design a real-time optimal full flight envelope controller for a miniature helicopter due to the nonlinear, underactuated, uncertain, and highly coupled nature of its dynamics. This paper integrates the control of translational, rotational, and flapping motions of a simulated miniature aerobatic helicopter in one unified optimal control framework. In particular, a recently developed real-time nonlinear optimal control method, called the theta-D technique, is employed to solve the resultant challenging problem considering the full nonlinear dynamics without gain scheduling techniques and timescale separations. The uniqueness of the theta-D method is its ability to obtain an approximate analytical solution to the Hamilton–Jacobi–Bellman equation, which leads to a closed-form suboptimal control law. As a result, it can provide a great advantage in real-time implementation without a high computational load. Two complex trajectory tracking scenarios are used to evaluate the control capabilities of the proposed method in full flight envelope. Realistic uncertainties in modeling parameters and the wind gust condition are included in the simulation for the purpose of demonstrating the robustness of the proposed control law. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...] [article] Trajectory control of miniature helicopters using a unified nonlinear optimal control technique [texte imprimé] / Ming Xin, Auteur ; Yunjun Xu, Auteur ; Ricky Hopkins, Auteur . - 2012 . - 14 p. Dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 133 N° 6 (Novembre 2011) . - 14 p. Mots-clés : Aircraft control Helicopters Mobile robots Motion Nonlinear systems Optimal Position Vehicle dynamics Index. décimale : 629.8 Résumé : It is always a challenge to design a real-time optimal full flight envelope controller for a miniature helicopter due to the nonlinear, underactuated, uncertain, and highly coupled nature of its dynamics. This paper integrates the control of translational, rotational, and flapping motions of a simulated miniature aerobatic helicopter in one unified optimal control framework. In particular, a recently developed real-time nonlinear optimal control method, called the theta-D technique, is employed to solve the resultant challenging problem considering the full nonlinear dynamics without gain scheduling techniques and timescale separations. The uniqueness of the theta-D method is its ability to obtain an approximate analytical solution to the Hamilton–Jacobi–Bellman equation, which leads to a closed-form suboptimal control law. As a result, it can provide a great advantage in real-time implementation without a high computational load. Two complex trajectory tracking scenarios are used to evaluate the control capabilities of the proposed method in full flight envelope. Realistic uncertainties in modeling parameters and the wind gust condition are included in the simulation for the purpose of demonstrating the robustness of the proposed control law. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA000133000006 [...]

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