This paper describes the design and performance analysis of a control system for rotorcraft with an emphasis on the requirements called for by autonomous guidance. To be able to track trajectories, such as those generated by a guidance system, a path following controller is used in combination with a velocity control augmentation. The path following system is motivated by nonlinear stability analysis. The velocity control augmentation follows a loop-shaping design for the inner-loop attitude control and a dynamic inversion velocity control design for the outer-loop. The identified model of the dynamics along with the uncertainties is used to determine the robustness and performance of the velocity control system. Finally, the paper presents a novel method to evaluate the overall performance of the control system in terms of the tracking error statistics. These results are then used to determine a tracking error model, which can be used to predict the tracking error for a given reference.


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    Titel :

    Control system design and evaluation for robust autonomous rotorcraft guidance


    Beteiligte:


    Erscheinungsdatum :

    2013


    Format / Umfang :

    19 Seiten, 47 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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