A5033316224- Biomimetic flight and propulsion mechanisms
- Underwater Vehicles and Communication Systems
- Adaptive Control of Nonlinear Systems
- Aerospace and Aviation Technology
- Distributed Control Multi-Agent Systems
- Advanced Sensor and Control Systems
- Advanced Aircraft Design and Technologies
- Vehicle Dynamics and Control Systems
- Robotic Path Planning Algorithms
- Guidance and Control Systems
- Air Traffic Management and Optimization
- UAV Applications and Optimization
- Aerospace Engineering and Energy Systems
- Adaptive Dynamic Programming Control
- Fault Detection and Control Systems
- Autonomous Vehicle Technology and Safety
- Advanced Control Systems Optimization
Chungnam National University
2018-2025
This paper proposes a linear model predictive control algorithm for obstacle avoidance and trajectory optimization based on Extended Kalman Filter to predict the motion of moving obstacles. In actual operational environment urban air mobility, it is difficult impractical consider various scenarios apply them in advance when generating mission trajectories. Therefore, provide real-time solutions unforeseen situations, we perform through taking into account dynamic constraints UAM vehicles. By...
Due to the flight characteristics such as small size, low noise, and high efficiency, studies on flapping wing robots are being actively conducted. In particular, robot is in spotlight field of search reconnaissance. Most research focuses development rather than autonomous flight. However, because unique wings, it essential consider simultaneously. this article, we describe computationally efficient vision-based obstacle avoidance algorithm suitable for lightweight robot. We developed a 27...
본 논문에서는 곤충 모방 날갯짓 비행체의 가장 중요한 설계 변수 중 하나인 날개에 대한 파라메트릭 연구에 대해 서술하였다. 추력, 피칭모멘트, 소비전력, 추력 대 전력비의 비교 및 분석을 통해 날개 형상에 실험적 연구를 진행하였다. 힘과 모멘트는 2축 밸런스를 이용하여 측정되었으며 주파수는 홀센서를 측정되었다. 형태는 겹 형태를 채택하였으며 이를 Clap and fling 효과를 구현하였다. 기준 형상으로 잠자리의 날개를 선정하였고, 기준으로 가로세로비 면적에 실험을 결과적으로, 가로세로비와 면적이 증가할수록 소비전력이 증가하는 것을 확인하였다. 또한, 일정 수준 이상의 혹은 면적을 가지는 메커니즘에 적용하였을 때 메커니즘이 정상적으로 구동되지 않는 최종적으로 형상 선정은 필요한 최소추력을 만족시키는 중에서 전력비를 비교함으로써 이루어졌다. 하지만 추력선과 무게중심의 불일치로 인한 모멘트의 발생으로 안정성을 확보할 수 없었다. 이에 확보하기 위해 상단과 하단에 댐퍼를 부착한...
This paper presents the controller design with a disturbance observer of Flapping-Wing Micro Aerial Vehicle (FWMAV) considering actuator and sensor model. FWMAVs experiences periodic motions wings their resulting aerodynamic changes. However, for is mainly based on linear control linearized models single period flapping Floquet theory. approach vulnerable to uncertainties from aerodynamics fabrication errors external disturbances. In this background, study applies simple double integrator...