Trajectory control of aggressive maneuver by agile autonomous helicopter
| العنوان: | Trajectory control of aggressive maneuver by agile autonomous helicopter |
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| المؤلفون: | Behdad Geranmehr, Esmaeel Khanmirza, Shahab Kazemi |
| المصدر: | Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 233:1526-1536 |
| بيانات النشر: | SAGE Publications, 2018. |
| سنة النشر: | 2018 |
| مصطلحات موضوعية: | 020301 aerospace & aeronautics, 0209 industrial biotechnology, Computer science, business.industry, Mechanical Engineering, Aerospace Engineering, Helicopter dynamics, 02 engineering and technology, Trajectory control, Computer Science::Robotics, 020901 industrial engineering & automation, 0203 mechanical engineering, Computer Science::Systems and Control, Control theory, Optimal trajectory, business, Agile software development |
| الوصف: | In this paper, a new state-dependent coefficient parameterization of an agile helicopter dynamics is derived to deal effectively with the optimal trajectory control of aggressive maneuver such as the infinity maneuver with agility. The angular velocity of the main rotor and engine throttle as state and input, respectively, are involved in the dynamic model to improve the maneuvering capability of helicopter. Since the presented six degrees-of-freedom helicopter model is highly nonlinear and nonaffine, particularly nonlinear in actuator, the state-dependent Riccati equation is implemented in the presence of saturation bounds for actuators to achieve precision trajectory control and conquer the challenge of aggressive maneuver tracking control. In addition, new helicopter dynamic representation results in the conventional state-dependent Riccati equation to be applied without prevalent simplifications within dynamic and actuators and also certain augmentations on controllers such as trim or feedforward compensators. Indeed, the proposed controller structure is verified by simulations for both regulation and trajectory tracking problem. |
| تدمد: | 2041-3025 0954-4100 |
| DOI: | 10.1177/0954410018755807 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_________::6f28b0b50313ab51b0bcc1ff079ad1fd https://doi.org/10.1177/0954410018755807 |
| Rights: | CLOSED |
| رقم الانضمام: | edsair.doi...........6f28b0b50313ab51b0bcc1ff079ad1fd |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 20413025 09544100 |
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| DOI: | 10.1177/0954410018755807 |