# New PDF release: A General Type of Singular Point

By Hille E.

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Extra info for A General Type of Singular Point

Example text

Although [16] outlines a complete set of techniques to carry out the autonomous landing of a helicopter on a ship, some points are still open. On the one hand, the achieved control goal allows vertical position tracking but longitudinal and lateral position, as well as attitude, are only stabilized to a constant conﬁguration. It would be desirable to impose some tracking requirements on attitude. Thus, the eﬀect of strong oscillations in the deck due to rather rough sea could be better avoided.

Mettler M, Tischler M B, Kanade T (2001) System identiﬁcation modelling of a small-scale unmanned rotorcraft for ﬂight control design, American Helicopter Society Journal 29. Montgomery J F, Bekey G A (1998) Learning helicopter control through ”teaching by showing”, In: Proceedings of the 37th IEEE Conference on Decision and Control 30. Montgomery J F, Fagg A H, Bekey G A (1995) The usc afv-i: A behaviour based entry, 1994 Aerial Robotics Competition, IEEE Expert, 10(2):16–22 31. Oh S, Pathak K, Agrawal S K, Pota H R, Garratt M (2006) Approaches for a tetherguided landing of an autonomous helicopter, IEEE Transactions on Robotics, 22(3):536–544 32.

Html. Fig. 13. 66m far from the origin and it tends to the equilibrium (black continuous line corresponding to LOCAL STABILITY); a perturbation (gray continuous line corresponding to PERTURBATION) brings the helicopter to the stable limit cycle (black dashed line corresponding to STABLE LIMIT CYCLE). 5 Open Research Lines There are still many open problems in autonomous helicopter design. To mention some of them, noting the lack of a standard methodology for controller speciﬁcation and its subsequent automated controller synthesis against multiple and conﬂicting speciﬁcations.