Diverse applications of advanced man-telerobot interfaces

Advancements in man-machine interfaces and control technologies used in space telerobotics and teleoperators have potential application wherever human operators need to manipulate multi-dimensional spatial relationships. Bilateral six degree-of-freedom position and force cues exchanged between the user and a complex system can broaden and improve the effectiveness of several diverse man-machine interfaces

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.Comment: 6 page

Helicopter mathematical models and control law development for handling qualities research

Progress made in joint NASA/Army research concerning rotorcraft flight-dynamics modeling, design methodologies for rotorcraft flight-control laws, and rotorcraft parameter identification is reviewed. Research into these interactive disciplines is needed to develop the analytical tools necessary to conduct flying qualities investigations using both the ground-based and in-flight simulators, and to permit an efficient means of performing flight test evaluation of rotorcraft flying qualities for specification compliance. The need for the research is particularly acute for rotorcraft because of their mathematical complexity, high order dynamic characteristics, and demanding mission requirements. The research in rotorcraft flight-dynamics modeling is pursued along two general directions: generic nonlinear models and nonlinear models for specific rotorcraft. In addition, linear models are generated that extend their utilization from 1-g flight to high-g maneuvers and expand their frequency range of validity for the design analysis of high-gain flight control systems. A variety of methods ranging from classical frequency-domain approaches to modern time-domain control methodology that are used in the design of rotorcraft flight control laws is reviewed. Also reviewed is a study conducted to investigate the design details associated with high-gain, digital flight control systems for combat rotorcraft. Parameter identification techniques developed for rotorcraft applications are reviewed

Adaptive control of nonlinear system based on QFT application to 3-DOF flight control system

Research on unmanned aerial vehicle (UAV) became popular because of remote flight access and cost-effective solution. 3-degree of freedom (3-DOF) unmanned helicopters is one of the popular research UAV, because of its high load carrying capacity with a smaller number of motor and requirement of forethought motor control dynamics. Various control algorithms are investigated and designed for the motion control of the 3DOF helicopter. Three-degree-of-freedom helicopter model configuration presents the same advantages of 3-DOF helicopters along with increased payload capacity, increase stability in hover, manoeuvrability and reduced mechanical complexity. Numerous research institutes have chosen the three-degree-of-freedom as an ideal platform to develop intelligent controllers. In this research paper, we discussed about a hybrid controller that combined with Adaptive and Quantitative Feedback theory (QFT) controller for the 3-DOF helicopter model. Though research on Adaptive and QFT controller are not a new subject, the first successful single Adaptive aircraft flight control systems have been designed for the U.S. Air Force in Wright Laboratories unmanned research vehicle, Lambda [1]. Previously researcher focused on structured uncertainties associated with controller for the flight conditions theoretically. The development of simulationbased design on flight control system response, opened a new dimension for researcher to design physical flight controller for plant parameter uncertainties. At the beginning, our research was to investigates the possibility of developing the QFT combined with Adaptive controller to control a single pitch angle that meets flying quality conditions of automatic flight control. Finally, we successfully designed the hybrid controller that is QFT based adaptive controller for all the three angles

Oscillation Damping Control of Pendulum-like Manipulation Platform using Moving Masses

This paper presents an approach to damp out the oscillatory motion of the pendulum-like hanging platform on which a robotic manipulator is mounted. To this end, moving masses were installed on top of the platform. In this paper, asymptotic stability of the platform (which implies oscillation damping) is achieved by designing reference acceleration of the moving masses properly. A main feature of this work is that we can achieve asymptotic stability of not only the platform, but also the moving masses, which may be challenging due to the under-actuation nature. The proposed scheme is validated by the simulation studies.Comment: IFAC Symposium on Robot Control (SYROCO) 201

The Caltech helicopter control experiment

This report describes the Caltech helicopter control experiment. The experiment consists of an electric model helicopter interfaced to and controlled by a PC. We describe the hardware and software. A state-space model for the angular position is identified from experimental data near hover, using the prediction error method. An LQR controller with integrators for set point tracking is designed for the system. We also undertake a separate identification and loop shaping control for the yaw dynamics

Neural networks-based command filtering control for a table-mount experimental helicopter

This paper presents neural networks based on command filtering control method for a table-mount experimental helicopter which has three rotational degrees-of-freedom. First, the controller is designed based on backstepping technique, and further command filtering technique is used to solve the derivative of the virtual control, thereby avoiding the effects of signal noise. Secondly, the model uncertainty of the table-mount experimental helicopter's system is estimated by using neural networks. And then, Lyapunov stabilization analysis proves the stability of the table-mount experimental helicopter closedloop attitude tracking system. Finally, the experiment is carried out to clarify the effectiveness of the proposed method. (C) 2020 The Franklin Institute. Published by Elsevier Ltd. All rights reserved