In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute an aerobatic maneuver under computer control. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies for maneuver execution. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery from the maneuver to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modelling errors. This approach can be used with an advanced motion planning algorithm which utilizes the vehicle agility.
Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter
2003-06-30
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Predicting Helicopter External Loads during Maneuvering Flight
British Library Conference Proceedings | 2008
|Human-Inspired Control Logic for Automated Maneuvering of Miniature Helicopter
Online Contents | 2004
|Helicopter Rotor Dynamic Inflow Modeling for Maneuvering Flight
Online Contents | 2001
|Helicopter rotor dynamic inflow modeling for maneuvering flight
Tema Archiv | 2001
|