“landing unmanned vtol systems: issues in control and navigation ” aerospace control and...
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“Landing unmanned VTOL systems: Issues in control and
navigation ”AEROSPACE CONTROL AND GUIDANCE SYSTEMS COMMITTEE
Eric FeronDutton/Ducoffe ProfessorSchool of Aerospace EngineeringGeorgia Institute of Technology
Outline
High Agility Flight New local positioning sensor for landing Obstacle-sensitive flight controls
Aerobatic Helicopter
HILSim
Ground Station
High agility flight
Concept: A helicopter Carrier forFirefighting/Law Enforcement
2.4m
Target
~0.5m
~0.55m
Cab
Forward Configuration, side view
Managing the interface:Automated landing
0
x y
Requirements:-Repeatable landings in demanding areas-No GPS system upon final approach-Sensing issues-Actuation issues
d
x
yh
Sensing Solution via Moire Pattern
Light source
Gratings
Demo
Current System
Vertical Wall Landing
Conservative Landing Approach will not work. We will assume we are given a feasible reference trajectory
X - Travel
H –
hei
ght
Wall
3 DOF helicopter
More attempts…
Bottom line
We get a gain-scheduled family of obstacle-sensitive trajectory trackers in one shot.
Allows us to change what output we care most about in real-time, and schedule controllers accordingly.
Controllers come with built-in closed-loop stability guarantees.
Controller structure may vary quickly.
Example: Longitudinal motion of “helicopter”
Reference trajectory
Obstacle
The end
feron@gatech.edu
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