An Autonomous Flight Control Strategy Study of a Small-Sized Unmanned Aerial Vehicle(Electronic Instrumentation and Control)
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概要
- 論文の詳細を見る
The purpose of this paper is to present a case study of the development, implementation and performance analysis of an autonomous flight control strategy for a 1-meter small-sized unmanned aerial vehicle. Firstly, a learning algorithm based open-loop control is proposed by simulating a skilled human operator's manipulation of the aircraft. This is aimed to generate a set of command data inputs and investigate the multi-channel control characteristics with the open-loop control. Secondly, a feedforward plus a proportional and derivative (PD) feedback control is employed to control the vehicle in following the command data to complete the loitering flight. The PD control gains are tuned automatically according to the attitude of the vehicle using the fuzzy logic theory. Thirdly, autonomous flight experiments conducted on a 1-meter small-sized aerial vehicle demonstrated the effectiveness of the proposed method.
- 社団法人電子情報通信学会の論文
- 2005-10-01
著者
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Zhu Hongbing
Department Of Computer Science Faculty Of Engineering Hiroshima Kokusai Gakuin University
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Zhu Hongbing
Department Of Computer Science Faculty Of Informatics Hiroshima Kokusai Gakuin University
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SUN Dong
Department of Emergency and Critical Care Medicine, School of Medicine, Keio University
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WU Huaiyu
College of Information Science and Engineering, Wuhan University of Science and Technology
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ZHOU Zhaoying
Department of Precision Instruments and Mechanology, Tsinghua University
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Wu Huaiyu
College Of Information Science And Engineering Wuhan University Of Science And Technology
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Zhou Zhaoying
Department Of Precision Instruments And Mechanology Tsinghua University
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Sun Dong
Department Of Manufacturing Engineering And Engineering Management City University Of Hong Kong
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Sun Dong
Department Of Emergency And Critical Care Medicine School Of Medicine Keio University
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