TY - GEN
T1 - Perching maneuver for an MAV augmented with an L1 adaptive controller
AU - Choe, Ronald
AU - Hovakimyan, Naira
PY - 2011
Y1 - 2011
N2 - This paper presents the autonomous glide and perch capabilities of a bird-inspired micro aerial vehicle. The glide and perch maneuver is highly non-linear due to the necessary high angles of attack during the terminal phase of the maneuver. The flight control system that is designed and implemented for this challenging task, consists of an open-loop optimal control signal, that generates a nominal optimal trajectory, augmented with an L1 adaptive control system. The results show that autonomous and consistent glide and perch on a wire in a biomimetic fashion is achieved in the presence of uncertainties, such as time-delay in position and velocity feedback, time-delay in up- and down-link of control commands and telemetry data, variations in aerodynamic (stability) derivatives of the aircraft.
AB - This paper presents the autonomous glide and perch capabilities of a bird-inspired micro aerial vehicle. The glide and perch maneuver is highly non-linear due to the necessary high angles of attack during the terminal phase of the maneuver. The flight control system that is designed and implemented for this challenging task, consists of an open-loop optimal control signal, that generates a nominal optimal trajectory, augmented with an L1 adaptive control system. The results show that autonomous and consistent glide and perch on a wire in a biomimetic fashion is achieved in the presence of uncertainties, such as time-delay in position and velocity feedback, time-delay in up- and down-link of control commands and telemetry data, variations in aerodynamic (stability) derivatives of the aircraft.
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M3 - Conference contribution
AN - SCOPUS:84880644324
SN - 9781600869525
T3 - AIAA Guidance, Navigation, and Control Conference 2011
BT - AIAA Guidance, Navigation, and Control Conference 2011
T2 - AIAA Guidance, Navigation and Control Conference 2011
Y2 - 8 August 2011 through 11 August 2011
ER -