Control primitives for fast helicopter maneuvers
Name
153291065-MIT.pdf
Description
Full printable version
Size
4.94 MB
Format
Adobe PDF
Checksum (MD5)
361ce5b5e214d4e97b2c9579f1d96c6a
Author(s)
Perk Barıṣ Eren
Advisor(s)
J.J.E. Slotine.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
In this paper, we introduce a framework for learning aggressive maneuvers using dynamic movement primitives (DMP) for helicopters. Our ultimate goal is to combine these DMPs to generate new primitives and demonstrate them on a 3-DOF (3 Degrees of Freedom) helicopter. An observed movement is approximated and regenerated using DMP methods. After learning the movement primitives, the partial contraction theory is used to combine them. We imitate the aggressive maneuvers that are performed by a human and use these primitives to achieve new maneuvers that can fly over an obstacle. Experiments on the Quanser 3-DOF Helicopter demonstrate the effectiveness of our proposed method. In addition, we linearly combine DMPs and propose a new type of DMP. We also analyze Matsuoka's oscillator and Hopf oscillator using contraction theory.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.
Includes bibliographical references (leaves 77-82).
Subjects
Mechanical Engineering.
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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