{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/35581"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/35581","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Aggressive landing maneuvers for unmanned aerial vehicles","abstract":"VTOL (Vertical Take Off and Landing) vehicle landing is considered to be a critically difficult task for both land, marine, and urban operations. This thesis describes one possible control approach to enable landing of unmanned aircraft systems at all attitudes, including against walls and ceilings as a way to considerably enhance the operational capability of these vehicles. The features of the research include a novel approach to trajectory tracking, whereby the primary system outputs to be tracked are smoothly scheduled according to the state of the vehicle relative to its landing area. The proposed approach is illustrated with several experiments using a low-cost three-degree-of-freedom helicopter. We also include the design details of a testbed for the demonstration of the application of our research endeavor. The testbed is a model helicopter UAV platform that has indoor and outdoor aggressive flight capability.","abstract_html":"VTOL (Vertical Take Off and Landing) vehicle landing is considered to be a critically difficult task for both land, marine, and urban operations. This thesis describes one possible control approach to enable landing of unmanned aircraft systems at all attitudes, including against walls and ceilings as a way to considerably enhance the operational capability of these vehicles. The features of the research include a novel approach to trajectory tracking, whereby the primary system outputs to be tracked are smoothly scheduled according to the state of the vehicle relative to its landing area. The proposed approach is illustrated with several experiments using a low-cost three-degree-of-freedom helicopter. We also include the design details of a testbed for the demonstration of the application of our research endeavor. The testbed is a model helicopter UAV platform that has indoor and outdoor aggressive flight capability.","abstract_has_math":false,"creators":["Bayraktar, Selcuk"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.","school":null,"contributors":[],"advisors":["Eric Feron."],"committee_chairs":[],"committee_members":[],"year":2006,"date_issued":"2006","date_published":"2006","updated_at":"2026-07-22T22:22:05Z","subjects":["Aeronautics and Astronautics."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. 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This thesis describes one possible control approach to enable landing of unmanned aircraft systems at all attitudes, including against walls and ceilings as a way to considerably enhance the operational capability of these vehicles. The features of the research include a novel approach to trajectory tracking, whereby the primary system outputs to be tracked are smoothly scheduled according to the state of the vehicle relative to its landing area. The proposed approach is illustrated with several experiments using a low-cost three-degree-of-freedom helicopter. We also include the design details of a testbed for the demonstration of the application of our research endeavor. 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The proposed approach is illustrated with several experiments using a low-cost three-degree-of-freedom helicopter. We also include the design details of a testbed for the demonstration of the application of our research endeavor. The testbed is a model helicopter UAV platform that has indoor and outdoor aggressive flight capability."],"dc:description.degree":["S.M."],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["http://hdl.handle.net/1721.1/35581"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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