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dc.contributor.authorBollino, Kevin
dc.contributor.authorHarada, Masanori
dc.contributor.authorNagata, Hideyuki
dc.contributor.authorSimond, Johan
dc.dateAugust 2013
dc.date.accessioned2016-05-04T19:30:20Z
dc.date.available2016-05-04T19:30:20Z
dc.date.issued2013-08
dc.identifier.citationGuidance, Navigation, and Control and Co-located Conferences August 19-22, 2013, Boston, MA AIAA Guidance, Navigation, and Control (GNC) Conferenceen_US
dc.identifier.urihttp://hdl.handle.net/10945/48626
dc.descriptionThe article of record as published may be found at http://dx.doi.org/10.2614/6.2013-4531en_US
dc.description.abstractThis paper investigates the application of optimal control 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 (NDA) of Japan. The optimal control problem is prescribed as a minimum-length obstacle avoidance maneuver of the SCR UAV and it is solved using pseudospectral (PS) optimal control theory. The optimal trajectory is computed offline as a kinematic path-planning problem and then provided to the real UAV system as reference input commands. While only preliminary studies have been conducted at NDA, the results provide nominal tracking performance and validate the feasibility of the approach.en_US
dc.format.extent13 p.en_US
dc.publisherAmerican Institute of Aeronautics and Astronautics, Incen_US
dc.rightsThis 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.en_US
dc.titleOptimal Trajectory Generation and Tracking Control of a Single Coaxial Rotor UAVen_US
dc.typeConference Paperen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.contributor.departmentMechanical and Astronautical Engineeringen_US


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