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|Title:||Design and implementation of an autonomous flight control law for a UAV helicopter|
|Authors:||Peng, K. |
|Keywords:||Autonomous flight control|
Unmanned aerial vehicle
|Citation:||Peng, K., Cai, G., Chen, B.M., Dong, M., Lum, K.Y., Lee, T.H. (2009-10). Design and implementation of an autonomous flight control law for a UAV helicopter. Automatica 45 (10) : 2333-2338. ScholarBank@NUS Repository. https://doi.org/10.1016/j.automatica.2009.06.016|
|Abstract:||In this paper, we present the design and implementation of an autonomous flight control law for a small-scale unmanned aerial vehicle (UAV) helicopter. The approach is decentralized in nature by incorporating a newly developed nonlinear control technique, namely the composite nonlinear feedback control, together with dynamic inversion. The overall control law consists of three hierarchical layers, namely, the kernel control, command generator and flight scheduling, and is implemented and verified in flight tests on the actual UAV helicopter. The flight test results demonstrate that the UAV helicopter is capable of carrying out complicated flight missions autonomously. © 2009 Elsevier Ltd. All rights reserved.|
|Appears in Collections:||Staff Publications|
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