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Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation
Joint Authors
Han, Jianda
Zhou, Yingjun
He, Yuqing
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-13
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
Autonomous maneuvering flight control of rotor-flying robots (RFR) is a challenging problem due to the highly complicated structure of its model and significant uncertainties regarding many aspects of the field.
As a consequence, it is difficult in many cases to decide whether or not a flight maneuver trajectory is feasible.
It is necessary to conduct an analysis of the flight maneuvering ability of an RFR prior to test flight.
Our aim in this paper is to use a numerical method called algorithm differentiation (AD) to solve this problem.
The basic idea is to compute the internal state (i.e., attitude angles and angular rates) and input profiles based on predetermined maneuvering trajectory information denoted by the outputs (i.e., positions and yaw angle) and their higher-order derivatives.
For this purpose, we first present a model of the RFR system and show that it is flat.
We then cast the procedure for obtaining the required state/input based on the desired outputs as a static optimization problem, which is solved using AD and a derivative based optimization algorithm.
Finally, we test our proposed method using a flight maneuver trajectory to verify its performance.
American Psychological Association (APA)
He, Yuqing& Zhou, Yingjun& Han, Jianda. 2014. Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-473624
Modern Language Association (MLA)
He, Yuqing…[et al.]. Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation. Mathematical Problems in Engineering No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-473624
American Medical Association (AMA)
He, Yuqing& Zhou, Yingjun& Han, Jianda. Trajectory Evaluation of Rotor-Flying Robots Using Accurate Inverse Computation Based on Algorithm Differentiation. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-473624
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-473624