Please use this identifier to cite or link to this item:
|Title:||Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter|
Unmanned aerial vehicles
|Source:||Karimoddini, A.,Cai, G.,Chen, B.M.,Lin, H.,Lee, T.H. (2010). Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter. 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 : 321-326. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2010.5513171|
|Abstract:||In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model and the outer-loop controller that handles the nonlinear parts. The inner-loop controller aims at the attitude control of the helicopter and the outer-loop is responsible for its position control. The performance of the designed controller is demonstrated through the simulation and actual flight tests in the hovering situation and the path-tracking mode. ©2010 IEEE.|
|Source Title:||2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 13, 2017
checked on Dec 16, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.