Modeling, Control and Coordination of Helicopter Systems
Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and
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Beibei Ren • Shuzhi Sam Ge • Chang Chen Cheng-Heng Fua • Tong Heng Lee
Modeling, Control and Coordination of Helicopter Systems
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Beibei Ren Department of Electrical and Computer Engineering National University of Singapore Singapore
Shuzhi Sam Ge Department of Electrical and Computer Engineering National University of Singapore Singapore
Department of Mechanical and Aerospace Engineering University of California, San Diego CA, USA [email protected]
The Robotics institue University of Electronic Science and Technology of China, Chengdu, China [email protected]
Chang Chen DSO National Laboratories Science Park Drive 20 118230 Singapore [email protected] Tong Heng Lee Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 117576 Singapore [email protected]
Cheng-Heng Fua Institute of High Performance Computing Agency for Technology, Science and Technology 1 Fusionopolis Way Connexis Singapore [email protected]
ISBN 978-1-4614-1562-6 e-ISBN 978-1-4614-1563-3 DOI 10.1007/978-1-4614-1563-3 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2011941211 © Springer Science+Business Media, LLC 2012 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)
For the subject under study: by modeling, we have a deeper and better understanding; by control, we make our course of action steady and solid; by coordination, we appreciate our friends for their supports in our mission.
Preface
Unmanned aerial vehicles (UAVs) are finding wider applications including surveillance, rescue, navigation, formation, coordination, among others. Helicopter-type UAVs offer the best option in many open and/or built-up areas for their maneuverability through narrow alleys and sharp beds, and their ability to hover in place if, for example, there is a need to have a close look at a place of interest. As with any vehicular design, control design for helicopters is non-trivial. For example, ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. Unlike many classes of mechanical systems that naturally possess desirable structural properties such as passivity or dissipativity, helicopter systems are inherently unstable without closed-lo
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