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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter


    Beteiligte:
    Siciliano, Bruno (Herausgeber:in) / Dario, Paolo (Herausgeber:in) / Gavrilets, Vladislav (Autor:in) / Martinos, Ioannis (Autor:in) / Mettler, Bernard (Autor:in) / Feron, Eric (Autor:in)


    Erscheinungsdatum :

    2003-06-30


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Predicting Helicopter External Loads during Maneuvering Flight

    Strope, K. / Gassaway, B. / Arsenal, R. et al. | British Library Conference Proceedings | 2008


    Human-Inspired Control Logic for Automated Maneuvering of Miniature Helicopter

    V. Gavrilets / Bernard Mettler / E. Feron | AIAA | 2004



    Helicopter Rotor Dynamic Inflow Modeling for Maneuvering Flight

    Krothapalli, K.R.K. | Online Contents | 2001


    Helicopter rotor dynamic inflow modeling for maneuvering flight

    Krothapalli, K.R. / Prasad, J.V.R. / Peters, D.A. | Tema Archiv | 2001