Minimum Time Control of Helicopter UAVs using Computational Dynamic Optimization
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Authors
Tang, K.
Wang, B.
Kang, W.
Chen, B.
Subjects
Advisors
Date of Issue
2011-12
Date
December 19 - 21, 2011
Publisher
Language
Abstract
This paper focuses on the problem of minimum
time trajectory planning for helicopter UAVs. It is formulated
as a nonlinear optimal control subject to the dynamics
and limitations of helicopter UAVs. The dynamical system
is defined by a set of fifteen states nonlinear differential
equations developed for HeLion, a UAV helicopter constructed
in National University of Singapore (NUS). The problem is then
solved numerically using pseudospectral method for dynamic
optimization. The results show that minimum time trajectories
are highly nonlinear that require complicated maneuvering.
Type
Conference Proceedings
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Series/Report No
Department
Applied Mathematics
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NPS Report Number
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Format
Citation
2011 9th IEEE International Conference on
Control and Automation (ICCA), Santiago, Chile, December 19-21, 2011
Distribution Statement
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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.