ISBN: 9789400700222
There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counte… Meer...
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[EAN: 9789400700222], Neubuch, [PU: Springer Netherlands], TECHNOLOGY & INDUSTRIAL ARTS MATHEMATICS APPLIED ENGINEERING DESIGN PRODUCT ROBOTICS TECHNIK ELEKTRONIK ELEKTROTECHNIK NACHRICHT… Meer...
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ISBN: 9789400700222
There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counte… Meer...
Ioannis A. Raptis|Kimon P. Valavanis:
Linear and Nonlinear Control of Small-Scale Unmanned Helicopters - gebonden uitgave, pocketboek2010, ISBN: 9400700229
[EAN: 9789400700222], Neubuch, [PU: Springer Netherlands], TECHNOLOGY & INDUSTRIAL ARTS MATHEMATICS APPLIED ENGINEERING DESIGN PRODUCT ROBOTICS TECHNIK ELEKTRONIK ELEKTROTECHNIK NACHRICHT… Meer...
2010
ISBN: 9789400700222
gebonden uitgave
[ED: Gebunden], [PU: Springer Netherlands], Dieser Artikel ist ein Print on Demand Artikel und wird nach Ihrer Bestellung fuer Sie gedruckt. The comprehensive study of modeling and contro… Meer...
ISBN: 9789400700222
Find Linear and Nonlinear Control of Small-Scale Unmanned Helicopters by Ioannis A. Raptis in Hardcover and other formats in Technology & Engineering > Robotics. Technology & Engineering … Meer...
2010, ISBN: 9789400700222
Buch, Hardcover, [PU: Springer], Springer, 2010
Bibliografische gegevens van het best passende boek
Gedetalleerde informatie over het boek. - Linear and Nonlinear Control of Small-Scale Unmanned Helicopters
EAN (ISBN-13): 9789400700222
ISBN (ISBN-10): 9400700229
Gebonden uitgave
Verschijningsjaar: 2011
Uitgever: Springer
206 Bladzijden
Gewicht: 0,469 kg
Taal: Englisch
Boek bevindt zich in het datenbestand sinds 2008-07-15T16:10:03+02:00 (Amsterdam)
Detailpagina laatst gewijzigd op 2024-04-19T17:05:57+02:00 (Amsterdam)
ISBN/EAN: 9789400700222
ISBN - alternatieve schrijfwijzen:
94-007-0022-9, 978-94-007-0022-2
alternatieve schrijfwijzen en verwante zoekwoorden:
Auteur van het boek: valavanis, ioannis
Titel van het boek: helicopter, nonlinear systems, helico, small scale, linear and nonlinear, control
Gegevens van de uitgever
Auteur: Ioannis A. Raptis; Kimon P. Valavanis
Titel: Intelligent Systems, Control and Automation: Science and Engineering; Linear and Nonlinear Control of Small-Scale Unmanned Helicopters
Uitgeverij: Springer; Springer Netherland
198 Bladzijden
Verschijningsjaar: 2010-10-07
Dordrecht; NL
Gedrukt / Gemaakt in
Taal: Engels
106,99 € (DE)
109,99 € (AT)
118,00 CHF (CH)
POD
XXVI, 198 p.
BB; Hardcover, Softcover / Technik/Elektronik, Elektrotechnik, Nachrichtentechnik; Regelungstechnik; Verstehen; Control, Robotics, Automation; Engineering Design; Systems Theory, Control; Konstruktion, Entwurf; Kybernetik und Systemtheorie; BC
1 Introduction.- 1.1 Background Information.- 1.2 The Mathematical Problem ..- 1.3 Controller Designs.- 1.3.1 Linear Controller Design.- 1.3.2 Nonlinear Controller Design.- 1.4 Outline of the Book.- 2 Review of Linear and Nonlinear Controller Designs.- 2.1 Linear Controller Designs.- 2.2 Nonlinear Controller Design.- 2.3 Remarks.- 3 Helicopter Basic Equations of Motion.- 3.1 Helicopter Equations of Motion.- 3.2 Position and Orientation of the Helicopter.- 3.2.1 Helicopter Position Dynamics.- 3.2.2 Helicopter Orientation Dynamics.- 3.3 Complete Helicopter Dynamics.- 3.4 Remarks.- 4 Simplified Rotor Dynamics.- 4.1 Introduction.- 4.2 Blade Motion.- 4.3 Swashplate Mechanism.- 4.4 Fundamental Rotor Aerodynamics.- 4.5 Flapping Equations of Motion.- 4.6 Rotor Tip-Path-Plane Equation.- 4.7 First Order Tip-Path-Plane Equations.- 4.8 Main Rotor Forces and Moments.- 4.9 Remarks.- 5 Frequency Domain System Identification.- 5.1 Mathematical Modeling.- 5.1.1 First Principles Modeling.- 5.1.2 SystemIdentification Modeling.- 5.2 Frequency Domain System Identification.- 5.3 Advantages of the Frequency Domain Identification.- 5.4 Helicopter Identification Challenges.- 5.5 Frequency Response and the Coherence Function.- 5.6 The CIFER c Package.- 5.7 Time History Data and Excitation Inputs.- 5.8 Linearization of the Equations of Motion.- 5.9 Stability and Control Derivatives.- 5.10 Model Identification.- 5.10.1 Experimental Platform.- 5.10.2 Parametrized State Space Model.- 5.10.3 Identification Setup.- 5.10.4 Time Domain Validation.- 5.11 Remarks.- 6 Linear Tracking Controller Design for Small-Scale Unmanned Helicopters.- 6.1 Helicopter Linear Model.- 6.2 Linear Controller Design Outline.- 6.3 Decomposing the System.- 6.4 Velocity and Heading Tracking Controller Design.- 6.4.1 Lateral-Longitudinal Dynamics.- 6.4.2 Yaw-Heave Dynamics.- 6.4.3 Stability of the Complete System Error Dynamics.- 6.5 Position and Heading Tracking.- 6.6 PID Controller Design.- 6.7 Experimental Results.- 6.8Remarks.- 7 Nonlinear Tracking Controller Design for Unmanned Helicopters.- 7.1 Introduction.- 7.2 Helicopter Nonlinear Model.- 7.2.1 Rigid Body Dynamics.- 7.2.2 ExternalWrench Model.- 7.2.3 Complete Rigid Body Dynamics.- 7.3 Translational Error Dynamics.- 7.4 Attitude Error Dynamics.- 7.4.1 Yaw Error Dynamics.- 7.4.2 Orientation Error Dynamics.- 7.4.3 Angular Velocity Error Dynamics.- 7.5 Stability of the Attitude Error Dynamics.- 7.6 Stability of the Translational Error Dynamics.- 7.7 Numeric Simulation Results.- 7.8 Remarks.- 8 Time Domain Parameter Estimation and Applied Discrete Nonlinear Control for Small-Scale Unmanned Helicopters.- 8.1 Introduction.- 8.2 Discrete System Dynamics.- 8.3 Discrete Backstepping Algorithm.- 8.3.1 Angular Velocity Dynamics.- 8.3.2 Translational Dynamics.- 8.3.3 Yaw Dynamics.- 8.4 Parameter Estimation Using Recursive Least Squares.- 8.5 Parametric Model.- 8.6 Experimental Results.- 8.6.1 Time History Data and Excitation Inputs.- 8.6.2 Validation.- 8.6.3 Control Design.- 8.7 Remarks.- 9 Time Domain System Identification for Small-Scale Unmanned Helicopters Using Fuzzy Models.- 9.1 Introduction.- 9.2 Takagi-Sugeno Fuzzy Models.- 9.3 Proposed Takagi-Sugeno System for Helicopters.- 9.4 Experimental Results.- 9.4.1 Tunning of the Membership Function Parameters.- 9.4.2 Validation.- 10 Comparison Studies.- 10.1 Summary of the Controller Designs.- 10.2 Experimental Results.- 10.3 First Maneuver: Forward Flight.- 10.4 Second Maneuver: Aggressive Forward Flight.- 10.5 Third Maneuver: 8 Shaped Trajectory.- 10.6 Fourth Maneuver: Pirouette Trajectory.- 10.7 Remarks.- 11 Epilogue.- 11.1 Introduction.- 11.2 Advantages and Novelties of the Designs.- 11.3 Testing and Implementation.- 11.4 Remarks.- A Fundamentals of Backstepping Control.- A.1 Integrator Backstepping.- A.2 Example of a Recursive Backstepping Design.- References.The comprehensive study of modeling and control of small unmanned rotorcraft (helicopters) addressing all technical challenges faced when dealing with such unstable, nonlinear and underactuated systems;A detailed reference text that if followed step-by-step allows scientists, engineers, researchers and practitioners to model accurately and control (fly) small unmanned helicopters;Reference point-by-point analytical ‘tool’ that should be next to every small unmanned rotorcraft Includes supplementary material: sn.pub/extras
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