Name
Abstract | ||
|---|---|---|
This paper presents an investigation of autonomous hovering flight control of Micro Air Vehicles (MAVs). The control system consists of an onboard section with a self-made micro azimuth gradienter sensor and a ground station. An open-loop control strategy named teaching-by-showing based control is proposed by simulating a skilled human operator's manipulation of the aircraft, with the objective of learning operator's manipulation and then generating a set of command data to control MAVs hovering. A feedforward plus a PD feedback control is further employed to control the aircraft using the command data generated in the open-loop control. The PD control gains are tuned automatically according to the attitude of the vehicle by fuzzy logic theory. The effectiveness of the proposed approach is validated in autonomous hovering fight experiments conducted on a one-meter sized aircraft. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/ROBOT.2003.1241648 | 2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS |
Keywords | Field | DocType |
attitude control,control system,feedback,remotely operated vehicles,fuzzy logic,feedforward,open loop systems,feedback control | Remotely operated underwater vehicle,Control theory,Fuzzy logic,Azimuth,Control engineering,Attitude control,Engineering,Control system,Open-loop controller,Micro air vehicle,Feed forward | Conference |
Volume | Issue | ISSN |
1 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 1.12 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Huaiyu Wu | 1 | 162 | 14.46 |
| Zhao-ying Zhou | 2 | 63 | 14.95 |
| Dong Sun | 3 | 119 | 13.86 |