Unmanned Rotorcraft Systems
Springer, New York, London,
2011 (¥ click
on this link to order ¥)
Advances in
Industrial Control Series, xvii/267 pages / ISBN 978-0-85729-634-4 / e-ISBN
978-0-85729-635-1 / DOI 10.1007/978-0-85729-635-1
From the Back Cover:
Unmanned
Rotorcraft Systems
explores the research and development of fully-functional miniature rotorcraft
unmanned aerial vehicles (UAV), and provides a complete treatment of their
design. The unmanned system is an integration of advanced technologies
developed in communications, computing, and control areas. It is a useful
testing ground for trialing and implementing modern control techniques despite
the challenges introduced by the limitations on direct scalability between the
systems of a small-scale rotorcraft and those of its full-scale counterpart.
Included are detailed expositions of:
- systematic
hardware construction;
- software
systems integration;
- aerodynamic
modeling; and
- automatic
flight control system design.
Emphasis
is also placed on the flight formation of multiple UAVs and vision-based
ground-target tracking. It will be of great value to practicing engineers in
aerospace-related industries and to academic researchers from aerospace,
electrical or mechanical engineering backgrounds working on the development of
unmanned systems.
Advances
in Industrial Control aims
to report and encourage the transfer of technology in control engineering. The
rapid development of control technology has an impact on all areas of the
control discipline. The series offers an opportunity for researchers to present
an extended exposition of new work in all aspects of industrial control.
Table of Contents
1 Introduction {1} 1.1 Introduction
1.2 Brief History of Rotorcraft
1.3 Essential Hardware Components
1.3.1 RC Rotorcraft
1.3.2 Avionic System
1.3.3 Manual Backup
1.3.4 Ground Control Station
1.4 Software Design and Integration
1.4.1 Avionic Real-time Software System
1.4.2 Ground Control Station Software Structure
1.5 Flight Dynamics Modeling
1.5.1 First-Principles Approach
1.5.2 System and Parameter Identification
1.6 Flight Control Systems
1.7 Application Examples
1.8 Preview of Each Chapter
2 Coordinate Systems and Transformations {23} 2.1 Introduction
2.2 Coordinate Systems
2.2.1 Geodetic Coordinate System
2.2.2 Earth-centered Earth-fixed Coordinate System
2.2.3 Local North-east-down Coordinate System
2.2.4 Vehicle-carried North-east-down Coordinate System
2.2.5 Body Coordinate System
2.3 Coordinate Transformations
2.3.1 Fundamental Knowledge
2.3.2 Coordinate Transformations
3 Platform Design and Construction {35} 3.1 Introduction
3.2 Virtual Design Environment Selection
3.3 Hardware Components Selection
3.3.1 RC Helicopter
3.3.2 Flight Control Computer
3.3.3 Navigation Sensors
3.3.4 Peripheral Sensors
3.3.5 Fail-safe Servo Controller
3.3.6 Wireless Modem
3.3.7 Batteries
3.3.8 Vision Computer
3.3.9 Vision Sensor
3.3.10 Frame Grabber
3.3.11 Servo Mechanism
3.3.12 Video Transmitter and Receiver
3.3.13 Manual Control
3.3.14 Ground Control Station
3.4 Avionic System Design and Integration
3.4.1 Layout Design
3.4.2 Anti-vibration Design
3.4.3 Power Supply Design
3.4.4 Shielding Design
3.5 Performance Evaluation
4 Software Design and Integration {59} 4.1 Introduction
4.2 Onboard Software System
4.2.1 Framework Design
4.2.2 Task Management
4.2.3 Implementation of Automatic Control
4.2.4 Emergency Handling
4.2.5 Vision Processing Software Module
4.3 Ground Control Station Software
4.3.1 Framework of Ground Station Software Module
4.3.2 3D View Development
4.4 Software Evaluation
5 Measurement Signal Enhancement {83} 5.1 Introduction
5.2 Extended Kalman Filtering
5.3 Dynamics Models of the GPS-aided AHRS
5.3.1 AHRS Dynamics Model
5.3.2 INS Dynamics Model
5.4 Design of Extended Kalman Filters
5.4.1 EKF for AHRS with Accelerometer Measurement
5.4.2 EKF for AHRS with Magnetometer Measurement
5.4.3 EKF for INS
5.5 Performance Evaluation
6 Flight Dynamics Modeling {97} 6.1 Introduction
6.2 Model Structure
6.2.1 Kinematics
6.2.2 Rigid-body Dynamics
6.2.3 Main Rotor Flapping Dynamics
6.2.4 Yaw Rate Feedback Controller
6.3 Parameter Determination
6.3.1 Direct Measurement
6.3.2 Ground Tests
6.3.3 Estimation Based on Wind-tunnel Data
6.3.4 Flight Test
6.3.5 Fine Tuning
6.4 Model Validation
6.5 Flight Envelope Determination
7 Inner-loop Flight Control {137} 7.1 Introduction
7.2 H∞ Control Technique
7.3 Inner-loop Control System Design
7.3.1 Model Linearization
7.3.2 Problem Formulation
7.3.3 Selection of Design Specifications
7.3.4 H∞ Control Law
7.3.5 Performance Evaluation
8 Outer-loop Flight Control {161} 8.1 Introduction
8.2 Robust and Perfect Tracking Control
8.3 Outer-loop Control System Design
8.4 Performance Evaluation
9 Flight Simulation and Experiment {179} 9.1 Introduction
9.2 Flight Scheduling
9.2.1 Depart/Abort (Forward Flight)
9.2.2 Hover
9.2.3 Depart/Abort (Backward Flight)
9.2.4 Hovering Turn
9.2.5 Vertical Maneuver
9.2.6 Lateral Reposition
9.2.7 Turn-to-target
9.2.8 Slalom
9.2.9 Pirouette
9.2.10 MTE Concatenation
9.3 Hardware-in-the-loop Simulation Setup
9.4 Simulation and Flight Test Results
10 Flight Formation of Multiple UAVs {205} 10.1 Introduction
10.2 Leader-follower Formation
10.2.1 Coordinate Systems in Formation Flight
10.2.2 Kinematics Model
10.3 Collision Avoidance
10.4 Flight Test Results
11 Vision-based Target Following {223} 11.1 Introduction
11.2 Coordinate Frames Used in Vision Systems
11.3 Camera Calibration
11.3.1 Camera Model
11.3.2 Intrinsic Parameter Estimation
11.3.3 Distortion Compensation
11.3.4 Simplified Camera Model
11.4 Vision-based Ground Target Following
11.4.1 Target Detection
11.4.2 Image Tracking
11.4.3 Target Following Control
11.5 Experimental Results
References {255}
Index {263}
Link to the page of
Ben M. Chen's Books……