In this paper, the ℒ1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the collective commands to the helicopter. Both loops are augmented through an ℒ1 adaptive controller whose low-pass filter bandwidth is tuned considering a simplified helicopter actuation and flapping dynamics model. Simulation results are shown, and the baseline and the augmented controllers are compared.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter


    Beteiligte:


    Erscheinungsdatum :

    06.06.2023


    Format / Umfang :

    1458262 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Attitude control optimization for a small-scale unmanned helicopter

    Mettler, Bernard / Kanade, Takeo / Tischler, Mark et al. | AIAA | 2000


    Adaptive attitude controller design for unmanned helicopter

    Zhang, Xingwen / Chen, Xianxiang / Liu, Peizhi et al. | IEEE | 2017



    Attitude Command Attitude Hold and Stability Augmentation Systems for a Small-Scale Helicopter UAV

    Kahn, A. / IEEE / AIAA | British Library Conference Proceedings | 2003


    Model-based optimal attitude and positioning control of small-scale unmanned helicopter

    Shin, Jinok / Nonami, Kenzo / Fujiwara, Daigo et al. | Tema Archiv | 2005