期刊
AUTOMATICA
卷 45, 期 10, 页码 2333-2338出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2009.06.016
关键词
Unmanned aerial vehicle; Helicopter systems; Autonomous flight control; Nonlinear control
资金
- Defence Science and Technology Agency (DSTA) of Singapore
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. (C) 2009 Elsevier Ltd. All rights reserved.
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