Modelling and Control of Mini-Flying Machines is an exposition of models developed to assist in the motion control of various types of mini-aircraft: . Planar Vertical Take-off and Landing aircraft; . helicopters; . quadrotor mini-rotorcraft; . other fixed-wing aircraft; . blimps. For each of these it propounds: . detailed models derived from Euler-Lagrange methods; . appropriate nonlinear control strategies and convergence properties; . real-time experimental comparisons of the performance of control algorithms; . review of the principal sensors, on-board electronics, real-time architecture and communications systems for mini-flying machine control, including discussion of their performance; . detailed explanation of the use of the Kalman filter to flying machine localization. To researchers and students in nonlinear control and its applications Modelling and Control of Mini-Flying Machines provides valuable insights to the application of real-time nonlinear techniques in an always challenging area. TOC:Introduction and Historical Background.- The PVTOL Aircraft.- The Quad-rotor Rotorcraft.- Robust Prediction-based Control for Unstable Delay Systems.- Modelling and Control of mini-Helicopters.- Helicopter in a Vertical Flying Stand.- Modelling and Control of a Tandem-Wing Tail-Sitter UAV.- Modelling and Control of Small Autonomous Airships.- Sensors, Modems and Microcontrollers for UAVs.- Appendix A: Model Coefficients.
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