Minimum-Time Hover-to-Hover Maneuver of a Single Coaxial Rotor UAV : Example and Experimental Results
MetadataShow full item record
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.
The article of record as published may be found at http://dx.doi.org/10..2514/6.2012-4836
Showing items related by title, author, creator and subject.
Agrawal, B.N. (1990);This paper presents a boundary layer model to predict dynamic characteristics of liquid motion in partially filled tanks of a spinning spacecraft. The solution is obtained by solving three boundary value problems: inviscid, ...
Yale, G.; Agrawal, B.N. (1994);This paper concerns the cooperative control of multiple manipulators attached to the same base as they reposition a common payload. The theory is easily applied to inertially based problems as well as space based free-floating ...
H. Chen; Agrawal, B.N. (2002);The low-frequency flexible modes of solar arrays on spacecraft are excited by the minimum-time bang-bang control during a slew maneuver. These flexible modes limit the control bandwidth and degrade the pointing error at ...