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Title: Development of a miniature low-cost UAV helicopter autopilot platform and formation flight control of UAV teams
Authors: YUN BEN
Keywords: Control, UAV, Babyliion, Formation Flight, Attitude Determination, Modeling
Issue Date: 21-Jan-2010
Citation: YUN BEN (2010-01-21). Development of a miniature low-cost UAV helicopter autopilot platform and formation flight control of UAV teams. ScholarBank@NUS Repository.
Abstract: This thesis presents the comprehensive design procedure of a mini UAV helicopter, called BabyLion. The hardware construction and the selection of all of necessary components are firstly introduced. For optimizing the navigation system, an integration scheme of the inertial attitude and position reference by utilizing the robust and H8filtering technique was designed. For modeling and controlling the mini UAV, other than using the classic multi-input multi-output (MIMO) model, a special robust cascaded modeling and control method was proposed, which works well and can avoid flight crash due to temporary GPS signal failure. A full scheme for the formation flight is lastly presented. The leader-follower pattern to maintain a fixed geometrical formation while navigating the UAV team following certain trajectories is adopted. To avoid possible collisions in the actual test, a collision avoidance scheme is also developed. Simulations and real flight experimental results have verified that the overall design is effective.
Appears in Collections:Ph.D Theses (Open)

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