Modelado y Control de Helicópteros Autónomos. Revisión del Estado de la Técnica

M. Béjar, A. Ollero

Resumen

Este artículo presenta una revisión del estado de la técnica del modelado y control de helicópteros autónomos que incluye las plataformas de helicópteros autónomos más utilizadas, las arquitecturas de control existentes, y aspectos relacionados con la estimación del estado y la detección de fallos. Se aborda también la elección e identificación de modelos para los helicópteros autónomos. A continuación se trata con cierto detalle el sistema de control, presentando diferentes métodos e introduciendo también la planificación de trayectorias y la realización de maniobras agresivas.

Palabras clave

helicópteros autónomos; control de helicópteros autónomos; modelado e identificación de helicópteros; arquitecturas de control; robótica aérea

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