Trajectory smoothing and transition management for a small autonomous helicopter

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dc.audienceGeneralspa
dc.contributor.authorAgudelo Toro, Andrés Y.spa
dc.contributor.directorVélez Sánchez, Carlos Mariospa
dc.coverage.spatialMedellín de: Lat: 06 15 00 N degrees minutes Lat: 6.2500 decimal degrees Long: 075 36 00 W degrees minutes Long: -75.6000 decimal degreeseng
dc.creator.degreeMagíster en Matemáticas Aplicadasspa
dc.date.accessioned2012-10-08T20:25:39Z
dc.date.available2012-10-08
dc.date.available2012-10-08T20:25:39Z
dc.date.issued2008-06-05
dc.description92 p.eng
dc.description.abstractGuidance of an autonomous helicopter requires transforming a predened flight schedule, described as a series of discrete points, in a continuous smooth trajectory. A smooth flight schedule reduces the control system effort and decreases transients originated by direction and flight mode changes. Differently from airplanes, helicopter flight cannot be described only by position changes but also special flight mode changes (e.g. takeoff to hover). Reduced transients and control effort are dependent on the continuity of the planned three dimensional path, smooth velocity transitions and adequate management of mode transitions.eng
dc.description.tableofcontentsContenido parcial: Research contribution and methodology -- The small helicopter dynamic model -- Trajectory smoothing -- Linear trajectory and baseline error -- Matlab trajectory smoothing.eng
dc.identifier.local629.132 A282
dc.identifier.urihttp://hdl.handle.net/10784/170
dc.language.isoengeng
dc.publisherUniversidad EAFITspa
dc.publisher.departmentEscuela de Ciencias y Humanidades. Departamento de Ciencias Básicasspa
dc.publisher.programMaestría en Matemáticas Aplicadasspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesseng
dc.rights.localAcceso abiertospa
dc.subjectTrabajo intelectual. Universidad EAFITspa
dc.subjectTesis. Maestría en Matemáticas Aplicadasspa
dc.subjectDinámica de helicópterosspa
dc.subjectMini helicópterosspa
dc.subjectControl de helicópterosspa
dc.subject.ddcOther branches of engineeringspa
dc.subject.ddcAerospace engineeringspa
dc.subject.ddcMechanics of flight, flying and related topicsspa
dc.subject.keywordIntellectual work. Universidad EAFITeng
dc.subject.keywordThesis. Master's Degree in Applied Mathematicseng
dc.subject.keywordDynamic helicopterseng
dc.subject.keywordMini helicopterseng
dc.subject.keywordRemote control helicopterseng
dc.subject.lembHELICOPTEROSspa
dc.subject.lembHELICOPTEROS-MODELOS-RADIOCONTROLspa
dc.subject.lembRADIOCONTROLspa
dc.subject.lembHELICOPTEROS-SISTEMAS DE CONTROLspa
dc.subject.lembINGENIERIA-APARATOS E INSTRUMENTOSspa
dc.titleTrajectory smoothing and transition management for a small autonomous helicoptereng
dc.typemasterThesiseng
dc.typeinfo:eu-repo/semantics/masterThesis
dc.type.hasVersionacceptedVersioneng
dc.type.localTesis de Maestríaspa

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