Name
Abstract | ||
|---|---|---|
In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute an acrobatic maneuver under computer control. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies for maneuver execution. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery from the maneuver to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modelling errors. This approach can be used with an advanced motion planning algorithm which utilizes the vehicle agility. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1007/3-540-36268-1_41 | Springer Tracts in Advanced Robotics |
Keywords | Field | DocType |
control system,motion planning,steady state | Motion planning,Computer control,Trim,Control theory,Simulation,Control engineering,Robustness (computer science),Control logic,Engineering,Control system,Trajectory | Conference |
Volume | ISSN | Citations |
5 | 1610-7438 | 1 |
PageRank | References | Authors |
0.35 | 2 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vladislav Gavrilets | 1 | 37 | 6.57 |
| Ioannis Martinos | 2 | 1 | 0.35 |
| Bernard Mettler | 3 | 1 | 0.35 |
| Eric Feron | 4 | 7 | 0.98 |