期刊
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
卷 29, 期 4, 页码 769-779出版社
AMER INST AERONAUT ASTRONAUT
DOI: 10.2514/1.16380
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Small ducted-fan autonomous vehicles have potential for several applications, especially for missions in urban environments. This paper discusses the use of dynamic inversion with neural-network adaptation to provide an adaptive controller for the GTSpy, a small ducted-fan autonomous vehicle based on the Micro Autonomous Systems' Helispy. This approach allows utilization of the entire low-speed flight envelope with a relatively poorly understood vehicle. A simulator model is constructed from a force and moment analysis of the vehicle, allowing for a validation of the controller in preparation for flight testing. Data from flight testing of the system are provided.
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