Control of a VTOL UAV via online parameter estimation

Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference

Volumn 7, Issue , 2005, Pages 5627-5641

  Chowdhary, Girish ^a,b   Lorenz, Sven ^a,b  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b NONE   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; IDENTIFICATION (CONTROL SYSTEMS); KALMAN FILTERING; LINEAR CONTROL SYSTEMS; PARAMETER ESTIMATION; ROTORS; VTOL/STOL AIRCRAFT;

EXTENDED KALMAN FILTERS; PARAMETER DEPENDENT ADAPTIVE CONTROL; QUADRATIC OPTIMIZED CONTROL; VTOL UAV;

UNMANNED VEHICLES;

EID: 29744433806     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (30)

1. Lorenz S., Chowdhary G., "System Identification for a Miniature Rotorcraft, Preliminary Results", AHS 61st forum, Grapevine TX June, 2005
2. nd AIAA "Unmanned Unlimited", San Diego CA, September 2003.
3. th Annual Forum, Baltimore MD, 2004.
4. Jategaonkar R., Plaetenschke E., "Estimation of Aircraft Parameters using Filter Error Methods and Extended Kalman Filter", DFVLR Institute für Flugmechanik Braunschweig, Germany 1988.
5. Jategaonkar R., Bassappa, "Evaluation of Recursive Methods for Aircraft Parameter Estimation", AIAA paper no. 2004-5063 Providence, Rl, 2004.
6. Kim Jin H., Shim David H., "Flight Control System for Aerial Robots, Algorithms and Experiminets", Elsevier Scubces Ltd. 2003.
7. Gavrilets V, Martinos I. Mettler B., Feron E., "Control Logic for Automated Aerobatic Flight of a Miniature Helicopter", Monterrey CA AIAA GNC 2002.
8. Shim H., Koo T. J., Hoffmann F., Sastry S., "A comprehencsive Study of Control Design for an Autonomous Helicopter", IEEE conference on Decision and Control, Dec 1999.
9. Harbicks K., Montgomery F., Sukhatme G., "Planar Spline Following for an Autonomous Helicopter", Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol.8, No.3 pp. 237-242, 2004
10. Castillo C., Alvis W., Castillo-Effen M., Valavanis K., Moreno W., "Small Scale Helicopter Analysis and Controller Design for Non-Aggressive Flights", 58th AHS Forum, Montreal, 2002.
11. Castillo P, Dzul A., Lozanno R., "Real Time Stabilization and Tracking of a Four - Rotor Mini Rotorcraft", IEEE Transactions on Control Systems Technology, VOL. 12, No. 4, July 2004.
12. Roberts J., Corke P., Buskey G., "Low Cost Flight Control System for a Small Autonomous Helicopter", ARAA 2002.
13. Johnson E., Kannan S., "Adaptive Flight Control for an Autonomous Unmanned Helicopter", AIAA GNC 2002, Monterrey CA 2002.
14. th forum, Baltimore, MD, June 2004.
15. Tanner O., "Modeling, Identification, and Control of Autonomous Helicopters", PhD Dissertation to the Swiss Federal Institute of Technology, Zurich, Switzerland 2003.
16. Wan E, Bogdanov A., Kieburtz R., Baptista A., Carlsson M., Zhang Y., Zulauf M., "Model Predictive Neural Control for Aggressive Helicopter Maneuvers", in Software Enabled Control: Information Technologies for Dynamic Systems, IEEE press, 2003.
17. Bogdanov A., Carlsson M., Harvey G., Hunt J., Kieburtz D., Van Der Merwe R., Wan E. "State Dependent Riccatti Equation Control of a Small Unmanned Helicopter", AIAA GNC Austin TX, 2003.
18. Bogdanov A., Wan E., "SDRE Control with Nonlinear Feedforward Compensation for a Small Unmanned Helicopter", Second AIAA "Unmanned Unlimited" Conference San Diego CA, 2003.
19. Gracfa-Velo J., Walker B. K., "Aerodynamic Parameter Estimation for High Performance Aircraft using Extended Filters", AIAA-95-3500-CP, 1995.
20. Stein G., Athans M., "The LQG/LTR Procedure for Multivariable Feedback Control Design", IEEE log no. 8612203, 1986
21. Baker G. A. Jr., "The Theory and Application of The Pade Approximant Method", In Advances in Theoretical Physics, Vol. 1 (Ed. K. A. Brueckner). New York: Academic Press, pp. 1-58, 1965.
22. th Forum, Montreal Quebec Canada 1999.
23. Mettler B., "Modeling Identification and Characteristics of Miniature Rotorcrafts", Kluwer Academic Publishers 2003 USA.
24. Padfield G. D., "Helicopter Flight Dynamics: The theory and application of flying qualities and simulation modeling", AIAA education series, USA, 1996
25. Levine William S (Editor). "The Control Handbook", CRC press, London, 1996.
26. Ogata Katushito, "Modern Control Engineering", Third Edition, Prentice Hall, New Jersey, 2002.
27. Graham G. Graebe S., Salgado M. "Control System Design", Prentice Hall, New Jersey, 2001
28. Bryson A. Jr., Ho Yo-Chin, "Applied Optimal Control", Hemisphere Publishing Corp. USA, 1975.
29. Grewal M., Andrews A., "Kalman Filtering Theory and Practice using MATLAB", Second Edition, John Wiley and Sons, USA 2001
30. Gelb A. "Applied Optimal Estimation", MIT press, Massachusetts USA 1974