This paper treats the development of a full authority, six degree of freedom controller for rotorcraft which provides autonomous, high performance, robust tracking of a specified trajectory. The nominal controller is a two time scale input-output-linearizing controller which exploits the well known nonlinearities in the equations of motion, but ignores the variations in the aerodynamically varying quantities. The nominal controller is enhanced with a simple two layer adaptive neural network which accommodates for the variations in the dynamics and guarantees ultimate boundedness of the tracking errors in closed loop. Simulation results are presented employing a high fidelity simulation for the Apache helicopter which has been validated at several flight conditions against flight test data.
A full authority helicopter adaptive neuro-controller
1998 IEEE Aerospace Conference Proceedings (Cat. No.98TH8339) ; 2 ; 117-126 vol.2
1998-01-01
670919 byte
Conference paper
Electronic Resource
English
A full authority helicopter adaptive neuro-controller
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