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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Control system design and evaluation for robust autonomous rotorcraft guidance


    Contributors:


    Publication date :

    2013


    Size :

    19 Seiten, 47 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Autonomous Guidance of Agile Small-scale Rotorcraft

    Mettler, Bernard / Feron, Eric | NTRS | 2004


    Autonomous Guidance of Agile Small-scale Rotorcraft

    B. Mettler / E. Feron | NTIS | 2004


    AIAA-2006-6201 Design and Flight Test Evaluation of Guidance System for Autonomous Rotorcraft

    Toupet, O. / Mettler, B. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2006


    Robust Control System Design for Rotorcraft

    Chih-Min Lin / Chen-Ling Ying | AIAA | 2002