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Modeling&--44 Control and Guidance of Highly Agile Aerial Vehicles

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Abstract:
I will give an overview of the challenges in the aerial robotics field, and a description of the recent accomplishments leading to the development of a highly agile small-scale rotorcraft. I will first describe the application of system identifications techniques and its role in the development and optimization of the control system. Second, I will describe how we will exploit the agility of the vehicle using a guidance system based on a maneuver automaton and conclude with current research topics in robust guidance systems.

Type of Seminar:
Public Seminar
Speaker:
Dr. Bernard Mettler
Postdoctoral Associate Laboratory for Information and Decision Systems Massachusetts Institute of Technology Rm 35-409 77 Massachusetts Avenue Cambridge, MA 02139-4307, USA
Date/Time:
May 17, 2002   14:15
Location:

ETH Zentrum, Physikstasse 3, Building ETL, Room K25
Contact Person:

Prof. M. Morari
No downloadable files available.
Biographical Sketch:
Bernard Mettler is currently a postdoctoral associate at the Laboratory for Information and Decision System (LIDS) at MIT, where he performs research in modeling, control design, and guidance for agile aerial vehicles. He obtained his Diploma in Mechanical Engineering at the Swiss Federal Institute of Technology (ETHZ) in 1996, and obtained his Ph.D. at Carnegie Mellon University in 2001. His doctoral research focused on system identification modeling of small-scale rotorcraft UAVs, and the study of their dynamic characteristics for control performances optimization. He also spent two summers as a visiting researcher at the US Army/NASA rotorcraft division.