0 2 4 6 8
−30
−20
−10 0 10 20 30
r [deg/s]
Time [s]
Tracking of yawrate with LQ tracker control
Figure 8.68: yaw damping on 13th September 2011. LQ tracker control
0 2 4 6 8
−30
−20
−10 0 10 20
r [deg/s]
Time [s]
Tracking of yaw rate with LQ tracker control
Figure 8.69: yaw damping on 29th September 2011. LQ tracker control
1 2 3 4 5 6 7 8
−20
−15
−10
−5 0 5 10 15 20
φ [deg]
Time [s]
Tracking of roll angle with MM tracker control
Figure 8.70: Tracking of the φ doublet ref-erence signal on 13th September 2011. MM tracker control
0 2 4 6 8
−20
−15
−10
−5 0 5 10 15 20 25
φ [deg]
Time [s]
Tracking of roll angle with MM tracker control
Figure 8.71: Tracking of the φdoublet refer-ence signal on 19th July 2012. MM tracker control
0 2 4 6 8 10
−20
−10 0 10 20 30
r [deg/s]
Time [s]
Tracking of yaw rate with MM tracker control
Figure 8.72: yaw damping on 13th September 2011. MM tracker control
2 4 6 8 10
−40
−30
−20
−10 0 10 20 30 40 50
r [deg/s]
Time [s]
Tracking of yaw rate with MM tracker control
Figure 8.73: yaw damping on 19th July 2012. MM tracker control
Publications related directly to the thesis
[Bau08] P. Bauer. The properties of an infinite horizon LQ optimal tracker with time varying references. In Proc. of Vehicle System Dynamics Identification and Anomalies (VSDIA) 2008, pages 645–652, Budapest, Hungary, 2008.
[Bau11] Peter Bauer. Comparison of Aircraft Waypoint Guidance and Tracking Strate-gies. In In Proc. of 9th European Workshop on Advanced Control and Diag-nosis (ACD 2011), Budapest, Hungary, November 2011.
[BB10] Peter Bauer and Jozsef Bokor. Development and Hardware-in-the-Loop Test-ing of an Extended Kalman Filter for Attitude Estimation. In Proc. of 11th IEEE International Symposium on Computational Intelligence and Informat-ics (CINTI 2010), pages 57–62, Budapest, Hungary, 2010.
[BB11a] Peter Bauer and Jozsef Bokor. Multi-Mode Extended Kalman Filter for Air-craft Attitude Estimation. In Proc. of IFAC World Congress 2011, Milano, Italy, August 2011. IFAC.
[BB11b] Peter Bauer and J´ozsef Bokor. Infinite horizon LQ optimal output track-ing from development to real flight tests. In In Proc. of 12th IEEE Inter-national Symposium on Computational Intelligence and Informatics (CINTI 2011), pages 277–282, Budapest, Hungary, November 2011.
[BB11c] Peter Bauer and J´ozsef Bokor. Tuning and testing of a minimax tracking con-troller for aircraft dynamics. InProc. of IEEE 19th Mediterranean Conference on Control and Automation, pages 259–264, Corfu, Greece, 2011.
[BB12] Peter Bauer and J´ozsef Bokor. Tuning and Improvements in a Waypoint and Trajectory Tracking Algorithm. InProceedings of AIAA Guidance, Navigation and Control Conference, number AIAA 2012-4604, Minneapolis, MN., USA, 13-16 August 2012. AIAA.
[BCI+11a] Peter Bauer, Paw Yew Chai, Luigi Iannelli, Rohit Pandita, Gergely Regula, B´alint Vanek, Gary J. Balas, Luigi Glielmo, and J´ozsef Bokor. UAV Lab, Open Research Platfrom for Unmanned Aerial Vehicles. In Proc. of 1st CEAS Spe-cialists Conference on Guidance Navigation and Control, M¨unchen, Germany, April 2011.
[BCI+11b] Peter Bauer, Paw Yew Chai, Luigi Iannelli, Rohit Pandita, Gergely Regula, B´alint Vanek, Gary J. Balas, Luigi Glielmo, and J´ozsef Bokor. UAV Lab, Open Research Platfrom for Unmanned Aerial Vehicles. In Stephan Teil Flo-rian Holzapfel, editor, Advances in Aerospace Guidance, Navigation and Con-trol (Selected Papers of the First CEAS Specialist Conference on Guidance, Navigation and Control), chapter I., pages 175–186. Springer-Verlag Berlin Heidelberg, 2011.
[BKB08a] P´eter Bauer, Bal´azs Kulcs´ar, and J´ozsef Bokor. An Exact Solution for the Infinite Horizon LQ Optimal Output Tracking Problem. In Proc. of 2008 IEEE Multi-Conference on Systems and Control, pages 822–827, San Antonio, Texas, USA, 2008.
[BKB08b] P´eter Bauer, Bal´azs Kulcs´ar, and J´ozsef Bokor. On the Use of Proper Weight-ing in Reference TrackWeight-ing Optimal Control with Guaranteed DARE Solvabil-ity. InProc. of IEEE 16th Mediterranean Conference on Control and Automa-tion, pages 901–906, Ajaccio, Corsica, France, 2008.
[BKB09a] P´eter Bauer, Bal´azs Kulcs´ar, and J´ozsef Bokor. Discrete time minimax track-ing control with disturbance estimation. In Proc. of European Control Con-ference (ECC) 2009, pages 2658–2663, Budapest, Hungary, 2009.
[BKB09b] P´eter Bauer, Bal´azs Kulcs´ar, and J´ozsef Bokor. Discrete time minimax track-ing control with state and disturbance estimation II: time-varytrack-ing reference and disturbance signals. In Proc. of IEEE 17th Mediterranean Conference on Control and Automation, pages 486–491, Thessaloniki, Greece, 2009.
[BRSB08] P´eter Bauer, Gy¨orgy Ritzinger, Alexandros Soumelidis, and J´ozsef Bokor. LQ Servo Control Design with Kalman Filter for a Quadrotor UAV. Periodica Polytechnica Transportation Engineering, 36(1-2):9–14, 2008.
[P´et08] Bauer P´eter. Egy pontos, LQ optim´alis megold´as v´egtelen horizont´u kimenetk¨ovet˝o szab´alyoz´as tervez´es´ere. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektronikus k¨ul¨onsz´am, 70 ´eves a l´egier˝o, Szolnok, Hungary, 2008.
[P´et09] Bauer P´eter. Egyes´ıtett LQ optim´alis ´es szub optim´alis megold´asok v´egtelen horizont´u kimenetk¨ovet˝o szab´alyoz´as tervez´es´ere. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektronikus k¨ul¨onsz´am, 50 ´ev hangsebess´eg felett a magyar l´egt´erben, Szolnok, Hungary, 2009.
[P´et10a] Bauer P´eter. H´arom ¨uzemm´od´u kib˝ov´ıtett Kalman sz˝ur˝ok rep¨ul˝og´ep ori-ent´aci´oj´anak becsl´es´ere. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektronikus k¨ul¨onsz´am, 60 ´eves a szolnoki rep¨ul˝otisztk´epz´es, Szolnok, Hungary, 2010.
[P´et10b] Bauer P´eter. Minimax megold´as v´egtelen horizont´u kimenetk¨ovet˝o szab´alyoz´as tervez´es´ere. In XVII. Magyar Rep¨ul´estudom´anyi Napok konfer-encia, Budapest, Hungary, 2010.
Further publications
[Bau06] P´eter Bauer. Possible Improvements in a Vortex-Lattice Panel Method. In Proc. of Vehicle System Dynamics Identification and Anomalies (VSDIA) 2006, pages 591–598, Budapest, Hungary, 2006.
[BB06] P. Bauer and Kulcs´ar B. Aircraft control, considering structured and un-structured uncertainties. In Proc. of International Conference on Mathe-matical Problems in Engineering, Aerospace and Sciences (ICNPAA) 2006, Budapest, Hungary, 2006.
[BK08] P. Bauer and B. Kulcs´ar. Design of robust aircraft flight control system under mixed model uncertainty. In S. Sivasundaram, editor, Advances in Mathematical Problems in Engineering and Aerospace Sciences, chapter 3, pages 41–51. Cambridge Scientific Publishers, 2008.
[BPG+07a] P. Bauer, Zs. Preitl, P. Gaspar, Z. Szabo, and J. Bokor. Modelling of a Series Hybrid Electric Vehicle. InProc. of 3rd AUTOCOM International Workshop on Hybrid Electric Vehicle Modeling and Control, Istanbul, Turkey, 2007.
[BPG+07b] P. Bauer, Zs. Preitl, P. G´asp´ar, Z. Szabo, and J. Bokor. Improved Model of a Series Hybrid Solar Vehicle. In Proc. of International Workshop on Hybrid and Solar Vehicles (WHSV) 2007, Salerno, Italy, 2007.
[BPP+06] P. Bauer, Zs. Preitl, T. P´eter, P. G´asp´ar, Z. Szab´o, and J. Bokor. Control oriented modelling of a series hybrid solar vehicle. In Proc. of International Workshop on Hybrid and Solar Vehicles (WHSV) 2006, pages 19–26, Salerno, Italy, 2006.
[BRSB10] P´eter Bauer, Gergely Regula, Alexandros Soumelidis, and J´oszef Bokor. Ap-plying CAN network in realizing low-cost small autonomous aerial vehicles. In Proc. of Recent Advances in Aerospace Actuation Systems and Components, pages 78–82, Toulouse, France, 2010.
[BSB07a] P. Bauer, G. Spagnuolo, and J. Bokor. A Global Maximum Power Point Tracking Solution for Mismatched Photovoltaic Arrays. In Proc. of Interna-tional Workshop on Hybrid and Solar Vehicles (WHSV) 2007, Salerno, Italy, 2007.
[BSB07b] P´eter Bauer, Giovanni Spagnuolo, and J´ozsef Bokor. An Adaptive Maximum Power Point Tracking Algorithm, for Mismatched Photovoltaic Arrays. In Proc. of International Youth Conference on Energetics (IYCE) 2007, 2007.
[PB05] Bauer P´eter and Kulcs´ar Bal´azs. Posztmodern, robusztus ir´any´ıt´as ter-vez´ese, instabil rep¨ul˝og´ep hosszdinamikai mozg´as´anak szab´alyoz´as´ara. InXV.
Rep¨ul´estudom´anyi Napok Konferencia, Budapest, Hungary, 2005.
[PBB06] Zs. Preitl, P. Bauer, and J. Bokor. Fuel consumption optimization for hy-brid solar vehicle. In Proc. of International Workshop on Hybrid and Solar Vehicles (WHSV) 2006, pages 11–18, Salerno, Italy, 2006.
[PBB07] Zs. Preitl, P. Bauer, and J. Bokor. A Simple Control Solution for Traction Motor Used in Hybrid Vehicles. In Proc. of 4th International Symposium on Applied Computational Intelligence and Informatics (SACI) 2007, pages 157–162, Timisoara, Rumania, 2007.
[PBK+07] Zs. Preitl, P. Bauer, B. Kulcs´ar, G. Rizzo, and J. Bokor. Control Solutions for Hybrid Solar Vehicle Fuel Consumption Minimization. In Proc. of 2007 IEEE Intelligent Vehicles Symposium, pages 767–772, Istanbul, Turkey, 2007.
[PBKB06] Zsuzsa Preitl, P´eter Bauer, Bal´azs Kulcs´ar, and J´ozsef Bokor. Predictive Con-trol for Fuel Consumption of Hybrid Solar Vehicles. In Proc. of 7th Interna-tional Symposium of Hungarian Researchers on ComputaInterna-tional Intelligence, pages 191–200, Budapest, Hungary, 2006.
[PBZ08] Bauer P´eter, Kulcs´ar Bal´azs, and Beny´o Zolt´an. A j´arm˝uvezet˝oi tula-jdons´agokat figyelembe vev˝o aut´op´alya forgalom-szimul´aci´os modell kife-jleszt´ese ´es ´erz´ekenys´egvizsg´alata. J¨ov˝o J´arm˝uve, 1-2:16–19, 2008.
[PJ08] Bauer P´eter and Bokor J´ozsef. Hibrid napelemes g´epj´arm˝u napelem egys´eg´enek energia optim´alis szab´alyoz´asa. G´ep, 2:8–14, 2008.
[P´et04] Bauer P´eter. K´et-dimenzi´os panel m´odszerek alkalmaz´asa sz´arnyprofilok aerodinamikai sz´am´ıt´asaiban. In Erd´elyi M´uzeum-Egyes¨ulet, editor, M˝uszaki Tudom´anyos K¨ozlem´enyek, Fiatal M˝uszakiak IX. Tudom´anyos ¨Ul´esszaka, pages 65–68, Kolozsv´ar, Rumania, 2004.
[P´et05a] Bauer P´eter. Numerikus m´odszerek alkalmaz´asa sz´arnyprofilok ´es sz´arnyak aerodinamikai jellemz˝oinek meghat´aroz´as´ara. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektronikus k¨ul¨onsz´am, F´el ´evsz´azad forg´osz´arnyakon a magyar katonai rep¨ul´esben, Szolnok, Hungary, 2005.
[P´et05b] Bauer P´eter. Rep¨ul˝og´ep nemline´aris mozg´as-szimul´aci´oj´anak fel´ep´ıt´ese ´es tesztel´ese MATLAB felhaszn´al´as´aval. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektronikus k¨ul¨onsz´am, F´el ´evsz´azad forg´osz´arnyakon a magyar katonai rep¨ul´esben, Szolnok, Hungary, 2005.
[P´et06a] Bauer P´eter. A Lagrange-f´ele mozg´asegyenletek automatikus gener´al´asa ´es egy alkalmaz´asi p´elda. In Erd´elyi M´uzeum-Egyes¨ulet, editor, M˝uszaki Tu-dom´anyos K¨ozlem´enyek, Fiatal M˝uszakiak XI. Tudom´anyos ¨Ul´esszaka, pages 35–38, Kolozsv´ar, Rumania, 2006.
[P´et06b] Bauer P´eter. Rep¨ul¨og´ep mozg´as´anak szab´alyoz´asa, val´os ´es komplex bizony-talans´agok figyelembe v´etel´evel. In Rep¨ul´estudom´anyi K¨ozlem´enyek elektron-ikus k¨ul¨onsz´am, ´Uj ´evsz´azad, ´uj technol´ogia, Gripenek a Magyar L´egier˝oben, Szolnok, Hungary, 2006.
[RSBB08] Gergely Regula, Alexandros Soumelidis, P´eter Bauer, and J´ozsef Bokor. Re-alizing Real-Time Embedded Control of a Small UAV . In Proc. of Vehicle System Dynamics Identification and Anomalies (VSDIA) 2008, pages 629–
635, Budapest, Hungary, 2008.
[SGB+07] Alexandros Soumelidis, P´eter G´asp´ar, P´eter Bauer, B´ela Lantos, and Zolt´an Proh´aszka. Design of an embedded microcomputer based mini quadrotor UAV. In Proc. of European Control Conference (ECC) 2007, pages 2236–
2241, Kos, Greece, 2007.
[SGBB08] Alexandros Soumelidis, P´eter G´asp´ar, P´eter Bauer, and Gary J. Balas. Mod-elling and identification of a small unamnned aerial vehicle . In Proc. of Ve-hicle System Dynamics Identification and Anomalies (VSDIA) 2008, pages 53–64, Budapest, Hungary, 2008.
[SLP+06] A. Soumelidis, B. Lantos, Z. Proh´aszka, G. Regula, and P. Bauer. Embedded Computer Based Non-Linear Vehicle Control: a Quadrotor Helicopter Ex-periment. InProc. of Vehicle System Dynamics Identification and Anomalies (VSDIA) 2006, pages 79–86, Budapest, Hungary, 2006.
[ZPJ07] Preitl Zsuzsa, Bauer P´eter, and Bokor J´ozsef. Soros architekt´ur´aj´u hibrid napelemes j´arm˝uvek modellez´es´er˝ol. J¨ov˝o J´arm˝uve, 3-4:62–65, 2007.
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