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David V Anderson
Aerospace Sciences Research Division, University of Glasgow, James Watt Building, Glasgow, G12 8QQ, Scotland

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Journal article
Published: 05 June 2015 in Aerospace
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Multirotor is the umbrella term for the family of unmanned aircraft, which include the quadrotor, hexarotor and other vertical take-off and landing (VTOL) aircraft that employ multiple main rotors for lift and control. Development and testing of novel multirotor designs has been aided by the proliferation of 3D printing and inexpensive flight controllers and components. Different multirotor configurations exhibit specific strengths, while presenting unique challenges with regards to design and control. This article highlights the primary differences between three multirotor platforms: a quadrotor; a fully-actuated hexarotor; and an octorotor. Each platform is modelled and then controlled using non-linear dynamic inversion. The differences in dynamics, control and performance are then discussed.

ACS Style

Murray L. Ireland; Aldo Vargas; David Anderson. A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace 2015, 2, 325 -352.

AMA Style

Murray L. Ireland, Aldo Vargas, David Anderson. A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace. 2015; 2 (2):325-352.

Chicago/Turabian Style

Murray L. Ireland; Aldo Vargas; David Anderson. 2015. "A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control." Aerospace 2, no. 2: 325-352.

Journal article
Published: 01 October 2011 in The Aeronautical Journal
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Operating micro-UAVs autonomously in complex urban areas requires that the guidance algorithms on-board are robust to changes in the operating environment. Limited endurance capability demands an optimal guidance algorithm, which will change as the environment does. All optimal path-planning routines are computationally intensive, with processor load a function of the environmental complexity. This paper presents a new algorithm, the reactive route selection algorithm, for storing a bank of optimal trajectories computed off-line and blending between these optimal trajectories as the operating environment changes. An example is presented using a mixed-integer linear program to generate the optimal trajectories. c2 [email protected]

ACS Style

J. Hall; D. Anderson. Reactive route selection from pre-calculated trajectories – application to micro-UAV path planning. The Aeronautical Journal 2011, 115, 635 -640.

AMA Style

J. Hall, D. Anderson. Reactive route selection from pre-calculated trajectories – application to micro-UAV path planning. The Aeronautical Journal. 2011; 115 (1172):635-640.

Chicago/Turabian Style

J. Hall; D. Anderson. 2011. "Reactive route selection from pre-calculated trajectories – application to micro-UAV path planning." The Aeronautical Journal 115, no. 1172: 635-640.

Research article
Published: 25 August 2011 in Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
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Airborne electro-optic systems require precise control of the camera line-of-sight vector to prevent unwanted and possibly mission-critical degradation of image quality. This is particularly true for long-range surveillance missions or operation in low signal-to-noise ratio environments. Recent work has shown that pixel smear during camera integration (jitter) can be reduced if adaptive friction compensation ‘shapes’ the jitter frequency content in addition to reducing the energy content. This article expands upon that work by automating the tuning process for the sightline control parameters using a genetic algorithm (GA) with a novel fitness function – the average modulation transfer function. The efficacy of this cost function is illustrated first through tuning of the traditional rate loop proportional + integral controller gains and second via tuning of a bespoke adaptive friction compensator. It is shown in both cases that controllers tuned using the GA with this fitness function are significantly better than the current root-mean-square figure of merit typically employed in stabilization loop design.

ACS Style

David V Anderson. Evolutionary algorithms in airborne surveillance systems: image enhancement via optimal sightline control. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 2011, 225, 1097 -1108.

AMA Style

David V Anderson. Evolutionary algorithms in airborne surveillance systems: image enhancement via optimal sightline control. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 2011; 225 (10):1097-1108.

Chicago/Turabian Style

David V Anderson. 2011. "Evolutionary algorithms in airborne surveillance systems: image enhancement via optimal sightline control." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 225, no. 10: 1097-1108.