Linear and nonlinear control of small-scale unmanned helicopters
There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified an...
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| Hlavní autoři: | , |
|---|---|
| Médium: | Livre numérique |
| Jazyk: | Anglais |
| Vydáno: |
Dordrecht :
Springer Netherlands : Springer e-books : Imprint: Springer : Springer e-books
[20..].
Cham : Springer Nature |
| Edice: | Intelligent Systems, Control and Automation: Science and Engineering
45 |
| Témata: | |
| On-line přístup: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Poznámka: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Linear and nonlinear control of small-scale unmanned helicopters, Ioannis A. Raptis, Kimon P. Valavanis, New York, Springer, 2010, 1 vol. (XXV-195 p.), Intelligent systems, control and automation : science and engineering, 978-94-007-0022-2 |
Obsah:
- 1 Introduction 1.1 Background Information 1.2 The Mathematical Problem . 1.3 Controller Designs 1.3.1 Linear Controller Design 1.3.2 Nonlinear Controller Design 1.4 Outline of the Book 2 Review of Linear and Nonlinear Controller Designs 2.1 Linear Controller Designs 2.2 Nonlinear Controller Design 2.3 Remarks 3 Helicopter Basic Equations of Motion 3.1 Helicopter Equations of Motion 3.2 Position and Orientation of the Helicopter 3.2.1 Helicopter Position Dynamics 3.2.2 Helicopter Orientation Dynamics 3.3 Complete Helicopter Dynamics 3.4 Remarks 4 Simplified Rotor Dynamics 4.1 Introduction 4.2 Blade Motion 4.3 Swashplate Mechanism 4.4 Fundamental Rotor Aerodynamics 4.5 Flapping Equations of Motion 4.6 Rotor Tip-Path-Plane Equation 4.7 First Order Tip-Path-Plane Equations 4.8 Main Rotor Forces and Moments 4.9 Remarks 5 Frequency Domain System Identification 5.1 Mathematical Modeling 5.1.1 First Principles Modeling 5.1.2 System Identification Modeling 5.2 Frequency Domain System Identification 5.3 Advantages of the Frequency Domain Identification 5.4 Helicopter Identification Challenges 5.5 Frequency Response and the Coherence Function 5.6 The CIFER c Package 5.7 Time History Data and Excitation Inputs 5.8 Linearization of the Equations of Motion 5.9 Stability and Control Derivatives 5.10 Model Identification 5.10.1 Experimental Platform 5.10.2 Parametrized State Space Model 5.10.3 Identification Setup 5.10.4 Time Domain Validation 5.11 Remarks 6 Linear Tracking Controller Design for Small-Scale Unmanned Helicopters 6.1 Helicopter Linear Model 6.2 Linear Controller Design Outline 6.3 Decomposing the System 6.4 Velocity and Heading Tracking Controller Design