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.


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    Title :

    A full authority helicopter adaptive neuro-controller


    Contributors:
    Leitner, J. (author) / Calise, A. (author) / Prasad, J.V.R. (author)


    Publication date :

    1998-01-01


    Size :

    670919 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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