Autonomous aerobatic maneuvering of miniature helicopters
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2005
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| Online Access: | http://hdl.handle.net/1721.1/17609 |
| _version_ | 1811081189035868160 |
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| author | Gavrilets, Vladislav, 1975- |
| author2 | Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik. |
| author_facet | Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik. Gavrilets, Vladislav, 1975- |
| author_sort | Gavrilets, Vladislav, 1975- |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003. |
| first_indexed | 2024-09-23T11:42:51Z |
| format | Thesis |
| id | mit-1721.1/17609 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T11:42:51Z |
| publishDate | 2005 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/176092019-04-12T07:29:26Z Autonomous aerobatic maneuvering of miniature helicopters Gavrilets, Vladislav, 1975- Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik. Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003. Includes bibliographical references (p. 83-86). In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature helicopter in a wide range of flight conditions, including aerobatics. The control laws consist of steady-state trim trajectory controllers, used prior to, and upon exit from the maneuvers; and a maneuver execution logic inspired by human pilot strategies. In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles. by Vladislav Gavrilets. Ph.D. 2005-06-02T16:23:06Z 2005-06-02T16:23:06Z 2003 2003 Thesis http://hdl.handle.net/1721.1/17609 54091779 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 86 p. 4121016 bytes 4120824 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Aeronautics and Astronautics. Gavrilets, Vladislav, 1975- Autonomous aerobatic maneuvering of miniature helicopters |
| title | Autonomous aerobatic maneuvering of miniature helicopters |
| title_full | Autonomous aerobatic maneuvering of miniature helicopters |
| title_fullStr | Autonomous aerobatic maneuvering of miniature helicopters |
| title_full_unstemmed | Autonomous aerobatic maneuvering of miniature helicopters |
| title_short | Autonomous aerobatic maneuvering of miniature helicopters |
| title_sort | autonomous aerobatic maneuvering of miniature helicopters |
| topic | Aeronautics and Astronautics. |
| url | http://hdl.handle.net/1721.1/17609 |
| work_keys_str_mv | AT gavriletsvladislav1975 autonomousaerobaticmaneuveringofminiaturehelicopters |