rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Linear and Nonlinear Control of Small-Scale Unmanned Helicopters
  name:
    name part: Raptis, Ioannis A.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Valavanis, Kimon P.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: ne
    date issued: 2011
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XXVI, 198 p. online resource.
  abstract: 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 analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tr…
  table of contents: 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 -- 6.4.1 Lateral-Longitudinal Dynamics -- 6.4.2 Yaw-Heave Dynamics -- 6.4.3 Stability of the Complete System Error Dynamics -- 6.5 Position and Heading Tracking -- 6.6 …
  note: by Ioannis A. Raptis, Kimon P. Valavanis.
  subject:
    topic: Engineering
  subject:
    topic: System theory
  subject:
    topic: Engineering design
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Mechatronics
  subject:
    topic: Engineering
  subject:
    topic: Control, Robotics, Mechatronics
  subject:
    topic: Engineering Design
  subject:
    topic: Systems Theory, Control
  classification: TJ210.2-211.495
  classification: TJ163.12
  classification: 629.8
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Intelligent Systems, Control and Automation: Science and Engineering, 45
  identifier: 9789400700239
  identifier: http://dx.doi.org/10.1007/978-94-007-0023-9
  record info:
    record creation date: 100929
    record change date: 20151109221049.0
    record identifier: 978-94-007-0023-9