The mathematical description of the kinematics and dynamics of a model helicopter is presented. Using the derived closed form solution for simplified dynamics, a robust controller for an autonomous model helicopter is presented. This controller is designed without using decomposition of the system in two loops (the inner loop for controlling the orientation of the main rotor plane and the outer loop to control the position) and subsequent usage of cascade control. It is shown that the proposed controller has significantly better performance of position control. The performance of the proposed position controller is demonstrated in real flight experiments. It was shown, theoretically and experimentally, that the proposed approach leads to significant better performance of position control compared to solutions where cascade controller is used.
High performance position control of an autonomous small size helicopter
Präzisionspositionsregelung eines kleinen autonomen Hubschraubers
2005
6 Seiten, 6 Bilder, 8 Quellen
Aufsatz (Konferenz)
Englisch
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