Design and experimental validation of a nonlinear control law for a ducted-fan miniature aerial vehicle

Control Engineering Practice

Volumn 18, Issue 7, 2010, Pages 747-760

  Naldi, Roberto ^a   Gentili, Luca ^a   Marconi, Lorenzo ^a   Sala, Andrea ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

Aircraft control; Autonomous vehicles; Flight control; Nonlinear control; Prototyping

Indexed keywords

AERIAL VEHICLE; AUTONOMOUS VEHICLES; ENVIRONMENTAL MONITORING; EXPERIMENTAL VALIDATIONS; FLIGHT CONTROL; MOBILE SURVEILLANCE; NON LINEAR CONTROL; NONLINEAR CONTROL LAWS; SMALL SCALE; VIDEO CAPTURE;

AIRCRAFT DETECTION; CONTROL THEORY; ENVIRONMENTAL REGULATIONS; LONGITUDINAL CONTROL; SECURITY SYSTEMS; UNMANNED AERIAL VEHICLES (UAV); VEHICLES;

AIRCRAFT CONTROL;

EID: 77953613667     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2010.02.007     Document Type: Article

References (33)

1. Abbott I.H., von Doenhoff A.E. Theory of airfoil sections 1959, Dover, New York.
2. Avila J.C., Brogliato B., Dzu A., Lozano R. Nonlinear modelling and control of helicopters. Automatica 2003, 39:1584-1596.
3. Bouabdallah S., Siegwart R. Design and control of a miniature quadrotor. Advances in unmanned aerial vehicles 2007, 171-210. Springer, Berlin.
4. Castillo P., Dzul A., Lozano R. Real-time stabilization and tracking of a 4 rotor mini-helicopter. IEEE Transactions on Control Systems Technology 2004, 12:510-516.
5. Chao, H., Cao, Y., & Chen, Y. (2007). Autopilots for small fixed-wing unmanned air vehicles: A survey. In Proceedings of the international conference on mechatronics and automation (ICMA), 2007.
6. Crossbow (2003). MNAV user manual http://www.xbow.com.
7. Farrell J. Aided navigation: GPS with high rate sensors 2008, McGraw-Hill, New York.
8. Feron, E., & Johnson, E. (2008). In B. Siciliano, & O. Khatib (Eds.), Aerial robotics. Springer handbook of robotics. Berlin: Springer, 2008.
9. Frazzoli, E. (2001). Robust hybrid control for autonomous vehicle motion planning. Ph.D. Thesis, Massachusetts Institute Of Technology.
10. Gavrilets, V. (2003). Aerobatic maneuvering of miniature helicopters. Ph.D. Thesis.
11. Guerrero, I., Londenberg, K., Gelhausen, P., & Myklebust, A. (2003). A powered lift aerodynamic analysis for the design of ducted fan uavs. In 2nd AIAA "unmanned unlimited" systems, technologies, and operations.
12. Gumstix (2009). Gumstix products web page http://www.gumstix.com.
13. Isidori A. Nonlinear control systems 1995, Springer, London.
14. Isidori A., Marconi L., Serrani A. Robust autonomous guidance 2003, Springer, Berlin.
15. Jang, J. S., & Liccardo, D. (2006). Automation of small uavs using low cost mems sensor and embedded computer platform. In 25th digital avionics systems conference.
16. Johnson E., Turbe M. Modeling, control, and flight testing of a small ducted fan aircraft. AIAA Journal of Guidance, Control, and Dynamics 2006, 29:769-779.
17. Jones R. Wing theory 1990, Princeton University Press, Princeton.
18. Ko, A., Ohanian, O., & Gelhausen, P. (2007). Ducted fan uav modeling and simulation in preliminary design. In Proceedings of the AIAA modeling and simulation technologies conference and exhibit.
19. Marconi L., Naldi R. Robust nonlinear full degree of freedom control of an helicopter. Automatica 2007, 42:1584-1596.
20. Mettler, B., Tischler, M. B., & Kanade, T. (1999). System identification of small-size unmanned helicopter dynamics. In American helicopter society 55th forum.
21. Mueller, F. (1993). A library implementation of posix threads under unix. In Proceedings of winter USENIX.
22. Ng A., Coates A., Diel M., Ganapathi V., Schulte J., Tse B., et al. Inverted autonomous helicopter flight via reinforcement learning. Experimental robotics 2006, Springer, Berlin. M. Ang, O. Khatib (Eds.).
23. Peddle, I., Jones, T., & Treurnicht, J. (2009). Practical near hover flight control of a ducted fan (slade). Control Engineering Practice, 48-58.
24. Pflimlin, J., Binetti, P., Soures, P., Hamel, T., & Trouchet, D. (2009). Modeling and attitude control analysis of a ducted-fan micro aerial vehicle. Control Engineering Practice, in press, doi:10.1016/j.conengprac.2009.09.009.
25. Pflimlin, J., Binetti, P., Trouchet, D., Soueres, P., & Hamel, T. (2007). Aerodynamic modelling and practical attitude stabilization of a ducted fan uav. In Proceedings of the European control conference.
26. Pflimlin, J., Soures, P., & Hamel, T. (2004). Hovering flight stabilization in wind gusts for ducted fan uav. In 42nd IEEE conference on decision and control.
27. Prouty R. Helicopter performance stability and control 1995, Krieger Publishing Company, New York.
28. Quigley, M., Goodrich, M., & Beard, R. (2004). Semi-autonomous human-uav interfaces for fixed- wing mini-uavs. Proceedings of 2004 IEEE/RSJ international conference on intelligent robots and systems.
29. Shakernia O., Ma Y., Koo T., Sastry S. Landing an unmanned air vehicle: Vision based motion estimation and nonlinear control. Asian Journal of Guidance, Control, and Dynamics 1999, 1:128-144.
30. Stengel R. Flight dynamics 2004, Princeton University Press, Princeton.
31. Tayebi A., McGilvray S. Attitude stabilization of a vtol quadrotor aircraft. IEEE Transactions Control Systems Technology 2006, 14:562-571.
32. Thwaites B. Incompressible aerodynamics 1960, Oxford University Press, Oxford.
33. Valenti, M., Bethke, B., Fiore, G., & How, J. (2006). Indoor multi-vehicle flight testbed for fault detection, isolation, and recovery. AIAA guidance, navigation, and control conference and exhibit.