内容简介：
Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and also covers issues related to the coordination and formation control of multiple helicopter systems to achieve high performance tasks. Ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. This book is a valuable reference on modeling, control and coordination of helicopter systems, providing readers with practical solutions for the problems that still plague helicopter system design and implementation. Readers will gain a complete picture of helicopters at the systems level, as well as a better understanding of the technical intricacies involved.
英文目录：
1 Introduction
1.1 Background
1.2 Outline of the Book
2 Building a Nonlinear Rotary-Wing Aircraft Model
2.1 Introduction
2.2 General Equations of Motion
2.2.1 Force Equation
2.2.2 Moment Equation
2.2.3 Kinematic Equation
2.2.4 Navigation Equation
2.3 Modular-Based Modeling
2.3.1 Main Rotor
2.3.2 Transformation from Body to Hub
2.3.3 Blade Flapping Dynamics
2.3.4 Inflow Dynamics
2.3.5 Main Rotor Forces and Moments
2.3.6 Transformation from Hub to Body
2.3.7 Tail Rotor
2.3.8 Propeller
2.3.9 Horizontal Tail
2.3.10 Wing
2.3.11 Vertical Tail
2.3.12 Fuselage
2.3.13 Aerodynamic Interference
2.3.14 Rotor Rotational Degree of Freedom
2.3.15 Flight Control System
2.4 Helicopter Performance Prediction
2.5 Conclusion
3 Stability Analysis for Rotary-Wing Aircraft
3.1 Introduction
3.2 Trim
3.3 Linearization
3.4 Description of Stability and Control Derivatives
3.5 Yamaha R50 Helicopter at Hover
3.6 Copterworks AF25B Helicopter in Forward Flight
3.7 Conclusion
4 Altitude Control of Helicopters with Unknown Dynamics
4.1 Introduction
4.2 Problem Formulation and Preliminaries
4.3 Function Approximation with Neural Networks
4.3.1 Function Approximation with RBFNN
4.3.2 Function Approximation with MNN
4.4 Adaptive NN Control Design
4.4.1 Full State Feedback Control
4.4.2 Output Feedback Control
4.5 Simulation Study
4.5.1 Linear Models
4.5.2 Nonlinear Model
4.6 Conclusion
5 Altitude and Yaw Control of Helicopters with Uncertain Dynamics
5.1 Introduction
5.2 Problem Formulation and Preliminaries
5.3 Control Design
5.3.1 RBFNN-Based Control
5.3.2 MNN-Based Control
5.4 Simulation Study
5.4.1 Internal Dynamics Stability Analysis
5.4.2 Performance Comparison Results Between Approximation-Based Control and Model-Based Control
5.5 Conclusion
6 Attitude Control of Uncertain Helicopters with Actuator Dynamics
6.1 Introduction
6.2 Problem Formulation
6.3 Model-Based Attitude Control for Nominal Plant
6.4 Robust Attitude Control of Helicopters with Uncertainties and Disturbances
6.5 Approximation-Based Attitude Control of Helicopters
6.6 Simulation Results
6.6.1 Model-Based Attitude Control
6.6.2 Robust Attitude Control
6.6.3 Approximation-Based Attitude Control
6.7 Conclusion
7 Kinematic Formation Control Using Q-structures
7.1 Introduction
7.2 Q-Structures and Formations
7.2.1 Assumptions
7.2.2 Division of Information Flow
7.2.3 Elements of the Q-structure
7.2.4 Properties of the Q-structure
7.3 Q-Structure with Perfect Communication
7.3.1 Changing Queues
7.3.2 Potential Trench Functions
7.3.3 Helicopter Behaviors
7.3.4 Simulation Experiments
7.4 Q-Structure with Imperfect Communication
7.4.1 Determination of Target on Queue
7.4.2 Navigation of Helicopters to Positions in Formations
7.4.3 Simulation Studies
7.5 Conclusion
8 Dynamic Altitude Synchronization Using Graph Theory
8.1 Introduction
8.2 Problem Formulation
8.2.1 Helicopter Dynamics
8.2.2 Formation Control of Helicopters
8.3 Control with Full Information
8.4 Control with Partial Information
8.5 Simulation Study
8.6 Conclusion
References
Index
