Helicopter flight control systems

The use of flight simulation tools to reduce the schedule, risk, and required amount of flight testing for complex aerospace systems is a well-recognized benefit of these approaches. However, some special challenges arise when one attempts to obtain these benefits for the development and operation of a research unmanned aerial vehicle (UAV) system. Research UAV systems are characterized by the need for continual checkout of experimental software and hardware. Also, flight testing can be further leveraged by complementing experimental results with flight-test validated simulation results for the same vehicle system. In this paper, flight simulation architectures for system design, integration, and operation of an experimental helicopter-based UAV are described. The chosen helicopter-based UAV platform (a Yamaha R-Max) is well instrumented: differential GPS, an inertial measurement unit, sonar altimetry, and a three-axis magnetometer. One or two generalpurpose flight processors can be utilized. Research flight test results obtained to date, including those completed in conjunction with the DARPA Software Enabled Control program, are summarized.

This paper presents a novel protective shell system designed to safeguard both the drone and its accompanying sensors. The objective of this project is to develop and test the shell-shaped container to check its capability of securely housing the drone. The system may incorporate a circuit board housing a processor that receives data from sensors and controls the opening and closing motions of the container. By analyzing the sensor information, the system may intelligently respond to adverse weather conditions by automatically closing the container to ensure the drone's protection. This innovative solution addresses the challenges associated with deploying drones in outdoor environments and offers enhanced safety and durability for extended drone operations.

Unmanned Aerial Vehicles (UAVs), or drones, have become increasingly vital in various high-altitude applications such as atmospheric data collection, surveillance, search and rescue operations, and military missions. However, their performance at high altitudes is severely limited by the thinning air, which reduces the available thrust from fixed-pitch propellers. This research explores the integration of Variable Pitch Propellers (VPP) into drone systems to improve thrust efficiency and maneuverability at high altitudes. The core hypothesis is that a drone equipped with variable pitch rotors can dynamically adjust blade angles to optimize thrust generation, thereby significantly outperforming fixed-pitch systems in thin air environments.

The operational parameter configuration and performance optimization of electric rotorcraft transport unmanned aerial vehicles (UAVs) currently lack comprehensive guiding theory, impacting UAV endurance and efficiency, thereby limiting industry growth. This paper analyzes factors affecting UAV endurance and establishes a hover endurance model for electric rotorcraft transport UAVs through theoretical derivation and testing. Based on this model, we introduce the concepts of thrust redundancy coefficient and load cutoff line, proposing an optimal endurance configuration theory. This theory categorizes the parameter configuration range into light load, ideal configuration, load cutoff , and endurance saturation zones. Using current operational parameters, we evaluate and optimize UAV performance. Verification results demonstrate high model accuracy, with error rates ranging from 1.89% to 5.69%. After optimization, the payload capacities of two transport UAVs increased by 6.25%, and their endurance improved by 6.97% and 9.5%, respectively, enhancing overall efficiency. This model provides a solid framework for assessing endurance capabilities and offers targeted optimization suggestions, making it crucial for improving UAV performance.

This paper presents a disturbance attenuation controller for horizontal position stabilization for hover and automatic landings of a Rotary-wing Unmanned Aerial Vehicle (RUAV) operating in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a nonlinear state feedback H ∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. The resultant control variables are further treated in consideration of practical constraints (flapping dynamics, servo dynamics and time lag effect) for implementation purpose. The high-fidelity closed-loop simulation using parameters of the Vario helicopter verifies performance of the proposed position controller. It not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H ∞ controller exhibits great performance improvement and can be applied to ship/RUAV landing systems.

This paper presents a disturbance attenuation controller for horizontal position stabilization for hover and automatic landings of a Rotary-wing Unmanned Aerial Vehicle (RUAV) operating in rough seas. Based on a helicopter model representing aerodynamics during the landing phase, a nonlinear state feedback H ∞ controller is designed to achieve rapid horizontal position tracking in a gusty environment. The resultant control variables are further treated in consideration of practical constraints (flapping dynamics, servo dynamics and time lag effect) for implementation purpose. The high-fidelity closed-loop simulation using parameters of the Vario helicopter verifies performance of the proposed position controller. It not only increases the disturbance attenuation capability of the RUAV, but also enables rapid position response when gusts occur. Comparative studies show that the H ∞ controller exhibits great performance improvement and can be applied to ship/RUAV landing systems.

The next drone technology direction in 2025 will focus on issues around component weight distribution and bespoke tactical performance. In short, the major tactics-technology issue in 2025 will be small drone payload and pay-offs in terms of component design that reduce weight in one component to distribute this to another part.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Kırpışmalı vertigo; dönen deniz feneri, çakarlı işaret cihazı veya dönmekte olan pervaneler arasından görülen güneş ışığı gibi, göreceli olarak nispeten daha parlak olan ışığın düşük frekanslı titreme ve yanıp sönmelerine maruz kalma sonucu beyin hücre faaliyetlerinde ortaya çıkan bir dengesizlik durumudur.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

This project report shows the drones and possibilities of their using. It was first discussed on constructing the drone, of which its comprise the most important elements which are frame, propellers, engine, system of power the electronic control and communication system. the drone is powered by batteries, which is the major drawback, because it is exhausted after some minutes of flight, causing a decrease drone on the ground. The lithium-polymer batteries are used for powering the drones. This study also discusses challenges, opportunities, limitations, and strategies for the adoption of drones in construction. It assists to contractors, building planners, designers, academicians, engineers, and architects to improve the construction activities for greater efficiency and better performance. It also motivates towards inclusion of technologies. This project report describes an experimental test campaign while using an Unmanned Aerial Vehicle (UAV) and measuring the obtained UAV positions during different flight tasks and in different operative conditions. This paper describes and analyses the measurements of the flight trajectory of the UAV that was performed with the use of a robotic total station (RTS), as compared to the design data and the data recorded in the internal memory of the UAV. Five different test tasks have been conducted. The obtained results have allowed for the assessment of the correctness of task performance as compared to the ensign and to determine the flying accuracy of the entire UAV set. The proposed set of tasks can be successfully utilized to control the correctness of operation of various types of UAVs and it may be implemented as a universal test to verify the algorithms optimizing take and landings, test flights of the objects, as well as flight planning in various terrain and weather conditions, which will increase the safety of the flights while using UAVs

Unmanned Aerial Vehicle become popular and very useful today. Unmanned Aerial Vehicle types have fixed wing UAV and rotary wing UAV. Among rotary wing UAV, helicopter type is chosen to implement the mathematical model for UAH. Since these helicopter mathematical model is very complex and inflexible, simple model "minimum-complexity helicopter simulation math model" (MCHSMM) is used to develop a non-linear mathematical model R-50 helicopter for this work. This modeling consists of three blocks: (1) Rigid body dynamics, (2) Force and torque dynamics, and (3) Flapping and thrust dynamics. Each of these are implemented in MATALB SIMULINK. There are four control inputs: ulat (lateral control input), ulong (longitudinal control input), ucol (collective control input) and uped (pedal control input). By alternating positive, negative, and zero to four control inputs, the resultant responses of positions, Euler angles, translatory velocities, angular velocities and flapping angles ...

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Råte påfører norske skogeiere og skogbruket årlige tap estimert til rundt 100 mill. NOK (Solheim og Stamnes, upubl.). Basert på den siste nasjonale råteundersøkelsen i granskog (Huse m.fl. 1994), var det mest råte i granas naturlige utbredelsesområde (Aust-Agder, Østlandet og Midt-Norge opp til Saltfjellet), hvor i gjennomsnitt nesten hvert fjerde tre var råteinfisert ved slutthogst. I enkelte granbestand kan

This paper describes an application of parameter plane technique for autopilot design of flexible tactical aerospace vehicle (TAV). In literature, it is shown that parameter plane analysis simplifies the autopilot design for TAV considering rigid body dynamics only. However in the recent era, most of the TAV's are structurally flexible in nature because of high l/d ratio. This is practiced for minimizing radar cross section (RCS) to avoid detection. The flexible nature of TAV causes structural oscillations which can be stabilized using compensators. The significant contribution of this paper is development of generalized algorithm for parameter plane technique. This algorithm can be used for both rigid as well as flexible body dynamics which was not available in literature. Stabilizing techniques such as gain stabilization and phase stabilization with any compensator dynamics can be used without modifying the algorithm. Distinct region of control gains is obtained for desired stability margins using this generalized parameter plane algorithm for three loop latax autopilot with flexible body dynamics and different stabilization techniques.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Fractional Order Proportional, Integral, Derivative (FOPID) controller is a modified Proportional Integral Derivative (PID) controller, which has fractional orders for its derivative and integral parts rather than an integer. Two techniques, namely, PID and FOPID, are adopted to design and implement a Three Degree of Freedom (3DOF) control system to stabilize pitch, roll and travel axes of the helicopter system. In this study, an improvement in the performance of the controllers is achieved using the Genetic Algorithm (GA) optimization method which is employed to find optimum parameter values for controller gains. The helicopter control system is modeled mathematically and then simulated using MATLAB environment to verify the performance of the proposed PID and FOPID controllers based on the GA tuning method. Simulation results suggest that the GA-FOPID controller compared with GA-PID controller can achieve faster and more stable control performance for the 3DOF helicopter system.

Drones (UAVs) have been used more and more in recent years, being used by industries for their work, agriculture as well as by individuals in the form of hobbies. From Nano to Large drones are available in various sizes. The three main categories of drones are small-sized, medium-sized and large-sized. In this post, I have made an attempt to classify the three main types of drones based on functionality and structure so that you get to choose the ideal one for yourself.

In a dynamic system such as flight control systems, faults caused by sensors, actuators and controllers can bring on unwanted reactions, reduce overall system efficiency and performance or even lead to failure of the overall, therefore it is required to detect such faults as soon as possible to isolate them accurately. During the past three decades a variety of methods have been developed to detect faults in processes and control systems. In this study, a longitudinal model of a fighter aircraft was selected as an example of a flight control system. Using data-driven methods based on multivariate statistical techniques, such as principal component analysis we tried to detect faults in the sensors. In these methods, calculations will be done based on the calculation of Hotelling's T 2 statistic and squared prediction error (SPE) statistic of the observation vector, and comparing with the statistics of the respective areas, as well as threshold levels, normal or abnormal status were detected.

The paper introduces an autonomous vehicle concept (ALSR AV) that is air-launched and self-recovering. The aircraft has a rotor wing lifting surface that is "xed perpendicular to the fuselage during #ight operations, windmills during autorotative self-recovery, and is stowed parallel to the fuselage for transport. The vehicle has advantages over other proposed autonomous aircraft in that fuel requirements are minimized since it is transported to the objective area, separate launch and recovery facilities are not necessary, and it has a relatively compact size and low complexity relative to other V/STOL autonomous vehicles. The ALSR AV is proposed for remote sensing, surveillance, and scout military missions, as well as search-and-rescue and law-enforcement civil operations. The analysis indicates that the ALSR AV represents a viable candidate for such applications, and can be sized to be carried by and perform a mission complimentary to the AH-64 Apache.

Unmanned aerial vehicle (UAV), also known as drone is one of the most interesting emerging technologies with a wide range of applications including agriculture, surveillance, security, search and rescue, mapping, farmland surveying, and wildlife conservation, among others. In Nigeria, UAV is gaining popularity in applications such as in social functions for taking both moving and static pictures, military and security, mapping and agriculture. In this work, an UAV was designed, some components produced by 3D printing, coupled and tested with certain level of local content in view. The UAV is a quadcopter equipped with a camera for real-time image capture of farmlands and it can perform autonomous missions by using global positioning system (GPS) waypoints. The weight of the quadcopter was approximately calculated and hence the electrical and mechanical components selected using a standard empirical design table. The thrust to weight ratio was set at 2:1. Autodesk Maya and Inventor software were used to design the frame in two parts: the frame arms on which the propellers are mounted and the central connecting part that links the four arms. The arms are made up of aluminum square pipes while the central connecting part for the arms was printed with a 3D printer (200 x 200 x 200 Wanhao duplicator i3) using PolyEthylene Terephthalate Glycol (PETG) Filament material of 1.75mm standard gauge. Material selection was based on material strength, cost and availability. NCH Debut video and image capture software was used to record live feeds from the UAV onboard camera. Functionality tests for lift, stability, yaw, roll, pitch, loiter, auto landing, return to launch, flight time, altitude/signal, auto mission using GPS waypoints were carried out with the completed UAV on a less windy day to avoid the influence of wind. It was generally observed that the UAV successfully took off the ground, gained stability, flew to over 100m height, captured aerial photographs of the land below it while on flight at the required height and landed safely. Cost saving advantage of 45.28% was achieved when compared to imported equivalent types.

Unmanned aerial vehicle (UAV), also known as drone is one of the most interesting emerging technologies with a wide range of applications including agriculture, surveillance, security, search and rescue, mapping, farmland surveying, and wildlife conservation, among others. In Nigeria, UAV is gaining popularity in applications such as in social functions for taking both moving and static pictures, military and security, mapping and agriculture. In this work, an UAV was designed, some components produced by 3D printing, coupled and tested with certain level of local content in view. The UAV is a quadcopter equipped with a camera for real-time image capture of farmlands and it can perform autonomous missions by using global positioning system (GPS) waypoints. The weight of the quadcopter was approximately calculated and hence the electrical and mechanical components selected using a standard empirical design table. The thrust to weight ratio was set at 2:1. Autodesk Maya and Inventor software were used to design the frame in two parts: the frame arms on which the propellers are mounted and the central connecting part that links the four arms. The arms are made up of aluminum square pipes while the central connecting part for the arms was printed with a 3D printer (200 x 200 x 200 Wanhao duplicator i3) using PolyEthylene Terephthalate Glycol (PETG) Filament material of 1.75mm standard gauge. Material selection was based on material strength, cost and availability. NCH Debut video and image capture software was used to record live feeds from the UAV onboard camera. Functionality tests for lift, stability, yaw, roll, pitch, loiter, auto landing, return to launch, flight time, altitude/signal, auto mission using GPS waypoints were carried out with the completed UAV on a less windy day to avoid the influence of wind. It was generally observed that the UAV successfully took off the ground, gained stability, flew to over 100m height, captured aerial photographs of the land below it while on flight at the required height and landed safely. Cost saving advantage of 45.28% was achieved when compared to imported equivalent types.

For many, the word-drone‖ has become a term that encompasses all types of drones. Much like how the word-aircraft‖ can refer to an airplane or a helicopter, so too can the word-drone‖ refer to both a fixed-wing drone, such as the Electric Zagi, WindrinderBee, or a quadcopter. But just like an airplane and a helicopter, fixed-wing drones and quadcopters are two entirely different technologies with different capabilities. For the general public, simply knowing and understanding the difference may not matter, but for anyone seriously considering adopting drone technology, it's important to understand which type of drone is best suited to your business, For the recent year, many researchers and student have made research about the implement and development of Quadrotor, basically the main problem often occurs which to design a stabilize system for the Quadrotor during flight. Because of the Quadrotor is naturally unstable and expensive due to the cost of four motor so it is quite necessary to replace it with new machine, the flying wing or all wings tailless UAV which uses only two motor and perform necessary tasks, the objective of our study is to design and implement a ground piloted unmanned aerial vehicle that is able to carry out different type of tasks but of course with some limitations. The hypothesis of this study is that this project will confirm that such machines perform necessary tasks rather than quadrotor drones with a very high performance. The methodology used in the project is based on System Development Life Cycle (SDLC), generally three major step, which is planning, implementing and analysis. The result is a twin motor RC flying wing UAV.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Current methods of assessing flying qualities are based on linear system theory, which cannot capture the nonlinear phenomena commonly found at high angles of attack. Although bifurcation analysis has been proven to be a powerful tool for numerically analyzing nonlinear flight dynamics, in its standard (unforced) form, the method is unsuitable for flying qualities assessment as no information on the transient response is provided. To address this shortcoming, we propose the use of an extension of bifurcation analysis that treats the aircraft as a harmonically forced system. This facilitates the evaluation of the frequency-domain dynamics where the response is unsteady by definition. It is shown that the method can identify regions with strong nonlinearities that lead to degraded flying qualities. Time simulations of the closed-loop step responses in these undesirable regions show that despite the predictions of desirable behaviors using linear analysis, the closed-loop aircraft can still be attracted to an isola, experience control reversal, or have higher overshoot than anticipated. Nomenclature = forcing amplitude (deg) = pitch rate (deg/s) = time (s) = general state vector = angle of attack (deg) = elevator deflection (deg) = forcing frequency (Hz or rad/s) Subscripts = demanded = value at trimmed (steady) flight

Reverse Engineering (RE) is the process of testing and analyzing a system or a device in order to identify, understand, and document its functionality. RE in education became vital because it allows students to understand product development steps and the working principles toward the product design. RE techniques learned during the class are applied to grasp the technical system features concerning the product. This paper presents a practical example of RE to a remote controlled toy helicopter. The aim of the RE performed on the product chosen is for the purpose of knowledge and experience. The information provided in this paper covers the RE methodology for the helicopter on the system level as well as the RE of mechanical, and electronics.

Within the civil aviation cluster, the technological applications in agriculture represent a booming field consisting in acquisition of data through remote sensing and integration of sensor networks (crop status detection) or development of chemical and biological treatment applications. Drones in agriculture can be used for a variety of task, aimed to increase farm crop yields and accurately monitor fields, simultaneously decreasing time, labour and resources. While for some specific task a medium size drone can be chosen, on the other hand for other task like precision spraying of pesticide or fertilizer heavy lift drone are required. Prior to the approval of Yamaha R-MAX, an UAV helicopter which will be allowed to operate with a maximum payload of 98 kg, the Federal Aviation Administration (FAA) had only issued exemptions for much smaller drones weighing less than 55 pounds (24.98 kg). In Europe national legislations still lack of harmonization, and in Italy at the moment the local legislation restricts the possible choices to a maximum allowed takeoff weight of 25kg without the necessity to submit a "permit to fly" documentation which is equivalent to the one required for a full scale commercial vehicle. Depending on the required task, one of the more important tasks of designing a multirotor Unmanned Aerial Vehicle (UAV) is the selection of a propulsion system that will provide desired performance in terms of payload and flight length or duration. Rigorous methods for selecting these drive components, that is, the motors, propellers, and batteries for electric UAVs are not readily available. A possible choice relies on using a Ready To Fly (RTF) UAV, but rapid changes in components and a fast evolution of the performance of engines and batteries allow possible updates of the existing UAV using aftermarket part to increase the flight envelope, a particularly interesting feature for heavy lift drone if a proper design method is adopted. Moreover, integration of technologies like LIDAR is easier to implement on UAV in which the design is not proprietary. In this work the technical requirements for agricultural tasks are investigated, and the state of the art of drone design method is presented, reporting an analysis of actual possibilities in terms of payload/flight envelope.

Within the civil aviation cluster, the technological applications in agriculture represent a booming field consisting in acquisition of data through remote sensing and integration of sensor networks (crop status detection) or development of chemical and biological treatment applications. Drones in agriculture can be used for a variety of task, aimed to increase farm crop yields and accurately monitor fields, simultaneously decreasing time, labour and resources. While for some specific task a medium size drone can be chosen, on the other hand for other task like precision spraying of pesticide or fertilizer heavy lift drone are required. Prior to the approval of Yamaha R-MAX, an UAV helicopter which will be allowed to operate with a maximum payload of 98 kg, the Federal Aviation Administration (FAA) had only issued exemptions for much smaller drones weighing less than 55 pounds (24.98 kg). In Europe national legislations still lack of harmonization, and in Italy at the moment the loc...

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Unmanned Aerial Vehicles (UAVs) are widely used in transportation, delivery, surveillance and surveillance applications. The development of stable, resilient, and accurate flight based on turbulence and turbulence will likely become a key feature in the development of unique flight control systems. In this research, we studied the control system of a small Parrot mini drone, the Mambo drone, which was designed using the MATLAB program, while we added turbulence to the drone by changing the weight of the original plane in the design, where we increased the weight and calculated the vertical projection area of the propellers of the plane several times until we got the best space for the propellers able to carry more extra weight. We imposed an increase in the drone's weight due to bad conditions that the plane experienced during its flight, such as snow or dust falling on it. In order to make the aircraft bear these weather conditions without falling and colliding, we calculated a...

This paper will present the process of designing and implementing a controller that will be able to maintain control of a quadcopter. Although the market is now overwhelmed by such controllers, we wanted to design our own in order to give us the opportunity to apply, at practical level, the knowledge we gained during our studies. We start by giving a brief reference to the most important stations in the history of quadcopter as well as the various areas in which it excels. Then, we present the construction process of the quadcopter, giving an extensive description of the microcontroller, the sensors and the other peripherals used in our construction, including some information about the 3D object design program and the 3D printer we used in order to construct the body parts of the quadcopter. This will be followed by images of all the parts we have designed with their detailed description as well as pictures from all stages of our construction from the beginning to the completion. Finally, we present the method of operation of the quadcopter and we list the parts required for its typical operation, before making our conclusion comments.

Abstract: - Many plants are difficult to precisely represent by a simple model because of complex nonlinear relationships, imprecise or insufficient measurements, many interactions and disturbances and noise effects. This makes their control difficult mainly because of the heavy, obscure ...

The unmanned aerial vehicles became popular in most research works related to flight controls, control systems, aerodynamic designing and robotics, a quadcopter is considered as a modern application. The purpose of this project is to get the Quadcopter to autonomous hover, transmit live video data and automatically interact to the human user via any radio or internet controller. It can autonomously track and follow a particular person or any object as well as respond gesture based commands. The human tracking will rely on sensor such as video images and GPS coordinates. The quadcopter will also have a wifi connection, allowing live video feeds and data to be streamed over the internet.

The paper introduces different control design methods for nonlinear systems with their application to the nonlinear mathematical model of a 3 DOF helicopter. Recent studies on the control design approaches, such as State Dependent Riccati Equation based optimal controller, Model Reference Adaptive Control and Sliding Mode Control, are reviewed and design methodologies are given. Then the mathematical model of a 3 DOF helicopter dynamics is derived and simplified with the software called CIFER. By using the simplified mathematical model of the 3 DOF helicopter, the control algorithms are applied to the model in order to explore the performances of the controllers. The results are given in the simulation environment. The paper is presented in a tutorial manner in order to explain the applications of the proposed nonlinear control methodologies.

On the battlefield of today, it has become an important requirement to hit moving or fixed targets by using tank or artillery ammunition with high precision. However, while there are many articles on guiding tactical missiles, it cannot found sufficient scientific study for guiding tank ammunition in the related literature. In this study, the laser BR-guidance method is offered to the classic tank ammunition with a diameter of 155 mm in order to give the tank a precision strike capacity, as different from the literature. First of all, an ammunition model is created with coefficients of the mass, inertia, and surface area and friction. In addition, an autopilot dynamic is modelled for the pitch and roll axes of the ammunition. Also, the atmosphere model and environmental factors are added to the model. In order to control this nonlinear model, a lead-compensator and a PD-controller are designed. In order for the results to be transferred to a real application, the accelerations obtained must basically be produced by the electric motors that will drive the control surfaces to be designed. At the end of the study, it is seen that both controllers can produce lateral accelerations within limits without reaching high saturation.

Majority of the optimal control techniques can only be applied successfully if the model of the controlled process is known and it is linear. If the system model is nonlinear, then this nonlinear model can be approximated with different simple, linear models. However, these models are valid only in the neighbourhood of the operating points. The success of the control algorithms is highly dependent on the used linearization methods. The aim of the paper is to compare different optimal control algorithms and linearization methods. The presented optimal control algorithms have been also tested in constrained and unconstrained versions.

The State-Dependent Riccati Equation (SDRE) control strategy is one of the most efficient approaches for the nonlinear feedback control algorithm by allowing nonlinearities in the system states. This method can be considered as a nonlinear LQR based control design, where the system matrices (and the weight matrices) are functions of the states. SDRE-based techniques have important properties which make them applicable for different nonlinear systems. In this paper we study some properties of these algorithms in order to improve the control efficiency and robustness of nonlinear process control. Also we compare the results of applied suboptimal and optimal SDRE control in continuous and discrete time case.

Quadcopters or Drones have multiple applications for different purpose such as investigation, assessment, exploration, rescue and decreasing the human strength in an adverse situation. Unmanned air vehicles (UAV) is designed with four propellers to resolve the issue of constancy however it will make the drone further more complex for the dynamic modelling and for the control system. In this research, smart controller is intended to regulate the attitude of drone. Simulation ideal model and fuzzy logic control approach is formulated to implement for four elementary motions i.e. roll, pitch, yaw, and height of our drone for the application of earthquake. The key objective of this research paper is to develop the anticipated output as compare to the desired input.

Various propagation models have been developed to estimate the level of noise near residential areas. Predictions and measurements have proven that proper modelling of the propagation medium is of particular importance. In the present work, calculations are performed using a ray theory methodology. The ray trajectory and transport equations are derived from the linear acoustics equations for a moving medium in three dimensions. Ground and atmospheric absorption, wave refraction and diffraction and atmospheric turbulence are taken into account by introducing appropriate coefficients in the equations. In the case of a wind turbine (W/T) it is assumed that noise is produced by a point source located at the rotor centre. Given the sound power spectrum, the noise spectrum at the receiver is obtained by solving the axisymmetric propagation problem.The procedure consists of (a) finding the eigenrays, (b) calculating the energy losses along the eigenrays and (c) synthesizing the sound pressure level (SPL) by superposing the contributions of the eigenrays. In the case of a wind park the total SPL is calculated by superposing the contributions of all W/Ts. Application is made to five cases of isolated W/Ts in terrains of varying complexity. In flat or even smooth terrain the predictions agree well with the measurements. In complex terrain the predictions can be considered satisfactory, taking into account the assumption of constant wind velocity profile.Application to a wind park shows clearly the influence of the terrain on the wind velocity and consequently on the SPL.

Quadcopter is an unmanned aerial vehicle, which can be implemented in different applications. In paper it will be represented a development of a quadcopter system and potential application in which it can be implemented. Quadcopter structure model, basic components with block diagram, hovering stability, dimensions, and description of basic movements will be represented and discussed. Control algorithms with steps in empirical methodology will also be presented. Current civil and military application will be examined, and future applications will be suggested.

The optimal position control of a Tri-TiltRotor Unmanned Aerial Vehicle is the subject of this paper. This specific UAV design possesses the capability to control the orientation of its main rotors, thus enabling operation in both the Vertical TakeOff and Landing as well as the Fixed-Wing flight mode configuration. The translational controller developed is based on a Linear-Quadratic tracking scheme. Additionally to the proposed controller, the newly introduced capability for rotor-tilting, and thus thrust vectoring, as provided by this design is proposed for its utilization in the control of the longitudinal degree-of-freedom of the UAV. Simulation results demonstrate both the overall proposed controller's efficiency, as well as the clear advantage gained by the aforementioned proposed strategy, with regard to the controlled system's longitudinal control performance.

In this paper, we propose a new Robust Nonlinear Quadratic Gaussian (RNQG) controller based on State-Dependent Riccati Equation (SDRE) scheme for continuous-time nonlinear systems. Existing controllers do not account for combined noise and disturbance acting on the system. The proposed controller is based on a Lyapunov function and a cost function includes states, inputs, outputs, disturbance, and the noise acting on the system. We express the RNQG control law in the form of a traditional Riccati equation. Real time applications of the controller places high computational burden on system implementation. This is mainly due to the nonlinear and complex form of the cost function. In order to solve this problem, this cost function is approximated by a weighted polynomial. The weights are found by using a least squares technique and a neural network. The approximate cost function is incorporated into the controller by employing a method based on Bellman's principle of optimality. Finally, an inertially stabilized inverted pendulum example is used to verify the utility of proposed control approach.

In this paper we address the design of a controller that achieves stabilization and reference tracking at different flight conditions for an unmanned helicopter. The controller proposed is in the form of an H-infinity gain-scheduler, and is used for stabilization and reference tracking, for the 4 axis autopilot. (heave, pitch, roll and yaw control) A nonlinear helicopter model has been built, trimmed and linearized at different flight conditions. Based on the linearized models an approximate affine parameter dependent model has been constructed. Then, a linear parameter dependent controller is synthesized which stabilizes the affine parameter dependent helicopter model. By doing so, a single controller achieves stabilization and reference tracking of a family of linear models by scheduling the controller gains based on the online measurement of the scheduling parameter, which is the forward velocity. Moreover, the affine parameter dependent controller is fitted into the nonlinear helicopter model. It is seen that this single parameter dependent controller successfully stabilizes the nonlinear helicopter model at different flight conditions.

Known as the “Renaissance Man,” DaVinci’s impressive knowledge of mechanics and inventive prowess would influence engineers and innovators hundreds of years later to make human flight a reality. However, due to the limited capacity of engineering and manufacturing at the time, his invention had been shallowly investigated in a production setting. This project strove to properly acknowledge DaVinci’s invention by thorough examination and critical analysis of his concept with the hopes of gaining a better understanding of why it is considered the “foundation of vertical flight”. An iterative design approach was employed, utilizing faculty and university resources, team knowledge from previous courses, and computational software to conceptualize, analyze, and refine the rotorcraft design. The majority of the project consisted of hand calculations, FEA and CFD analyses, and project management. The performance analysis of this design resulted in clearer comprehension of the physical syst...

2 GPS system, robust antennas, radar systems, live HD cameras (Roca, Rottensteiner, and Dubois, 2018), potent batteries, resilient ESC systems, and high-powered electric motors, ensuring its capability to execute large-scale operations in the event of any military conflict.