Linear and Nonlinear Control of Small-Scale Unmanned Helicopters

• Κύριοι συγγραφείς: Raptis, Ioannis A. (Συγγραφέας), Valavanis, Kimon P. (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Dordrecht : Springer Netherlands : Imprint: Springer, 2011.
• Σειρά: Intelligent Systems, Control and Automation: Science and Engineering, 45
• Θέματα: Engineering.; System theory.; Engineering design.; Control engineering.; Robotics.; Mechatronics.; Control, Robotics, Mechatronics.; Engineering Design.; Systems Theory, Control.

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...

Πίνακας περιεχομένων:

• 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 PID Controller Design
• 6.7 Experimental Results
• 6.8 Remarks
• 7 Nonlinear Tracking Controller Design for Unmanned Helicopters
• 7.1 Introduction
• 7.2 Helicopter Nonlinear Model
• 7.2.1 Rigid Body Dynamics
• 7.2.2 ExternalWrench Model
• 7.2.3 Complete Rigid Body Dynamics
• 7.3 Translational Error Dynamics
• 7.4 Attitude Error Dynamics
• 7.4.1 Yaw Error Dynamics
• 7.4.2 Orientation Error Dynamics
• 7.4.3 Angular Velocity Error Dynamics
• 7.5 Stability of the Attitude Error Dynamics
• 7.6 Stability of the Translational Error Dynamics
• 7.7 Numeric Simulation Results
• 7.8 Remarks
• 8 Time Domain Parameter Estimation and Applied Discrete Nonlinear Control for Small-Scale Unmanned Helicopters
• 8.1 Introduction
• 8.2 Discrete System Dynamics
• 8.3 Discrete Backstepping Algorithm
• 8.3.1 Angular Velocity Dynamics
• 8.3.2 Translational Dynamics
• 8.3.3 Yaw Dynamics
• 8.4 Parameter Estimation Using Recursive Least Squares
• 8.5 Parametric Model
• 8.6 Experimental Results
• 8.6.1 Time History Data and Excitation Inputs
• 8.6.2 Validation
• 8.6.3 Control Design
• 8.7 Remarks
• 9 Time Domain System Identification for Small-Scale Unmanned Helicopters Using Fuzzy Models
• 9.1 Introduction
• 9.2 Takagi-Sugeno Fuzzy Models
• 9.3 Proposed Takagi-Sugeno System for Helicopters
• 9.4 Experimental Results
• 9.4.1 Tunning of the Membership Function Parameters
• 9.4.2 Validation
• 10 Comparison Studies
• 10.1 Summary of the Controller Designs
• 10.2 Experimental Results
• 10.3 First Maneuver: Forward Flight
• 10.4 Second Maneuver: Aggressive Forward Flight
• 10.5 Third Maneuver: 8 Shaped Trajectory
• 10.6 Fourth Maneuver: Pirouette Trajectory
• 10.7 Remarks
• 11 Epilogue
• 11.1 Introduction
• 11.2 Advantages and Novelties of the Designs
• 11.3 Testing and Implementation
• 11.4 Remarks
• A Fundamentals of Backstepping Control
• A.1 Integrator Backstepping
• A.2 Example of a Recursive Backstepping Design
• References.