Minimum-Time Hover-to-Hover Maneuver of a Single Coaxial Rotor UAV : Example and Experimental Results

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Authors
Bollino, Kevin
Harada, Masanori
Ito, Masataka
Nagata, Hideyuki
Subjects
Advisors
Date of Issue
2012-08
Date
August 2012
Publisher
American Institute of Aeronautics and Astronautics, Inc
Language
Abstract
This paper investigates the application of optimal control results to the experimental flight of a Single Coaxial Rotor (SCR) Unmanned Aerial Vehicle (UAV) conducted in the indoor flight facility of the National Defense Academy of Japan (NDA). The optimal control problem is prescribed as a minimum-time hover-to-hover maneuver of the SCR UAV and it is solved using pseudospectral (PS) optimal control theory. The computed optimal results are applied as open-loop commands to the real UAV system. Additionally, a PID control is used for hovering flight before and after the minimum-time maneuver. Preliminary experimental results demonstrate the feasibility of commanding the UAV with open-loop optimal solutions generated offline.
Type
Conference Paper
Description
The article of record as published may be found at http://dx.doi.org/10..2514/6.2012-4836
Series/Report No
Department
Mechanical and Astronautical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
10 p.
Citation
AIAA Guidance, Navigation, and Control Conference 13 - 16 August 2012, Minneapolis, Minnesota
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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