Model-based helicopter UAV control: Experimental results

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 73, Issue 1-4, 2014, Pages 19-31

  Godbolt, Bryan ^a   Lynch, Alan F ^a  

^a UNIVERSITY OF ALBERTA   (Canada)

Author keywords

Experimental helicopter platform; Helicopter modeling and control; Helicopter UAV autopilot; Model based control

Indexed keywords

ASYMPTOTIC STABILITY; ATTITUDE CONTROL; HELICOPTERS;

CLOSED LOOP STABILITY; HELICOPTER CONTROL; HELICOPTER DYNAMICS; HELICOPTER MODEL; HELICOPTER PLATFORM; LYAPUNOV ANALYSIS; MODEL-BASED CONTROL; REFERENCE TRAJECTORIES;

UNMANNED AERIAL VEHICLES (UAV);

EID: 84899414621     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-013-9898-3     Document Type: Article

References (18)

1. Castillo, P., Lozano, R., Dzul, A. E.: Modelling and Control of Mini-Flying Machines. Springer, London (2005)
2. Farrell, J. A.: Aided Navigation: GPS with High Rate Sensors. McGraw-Hill, New York (2008)
3. Godbolt, B., Lynch, A. F.: Control-oriented physical input modelling for a helicopter UAV. J. Intell. Robot. Syst. (2014). doi:10.1007/s10846-013-9933-4
4. Godbolt, B., Vitzilaios, N., Bergen, C., Lynch, A. F.: Experimental validation of a helicopter autopilot: timevarying trajectory tracking. In: Proceedings of the 2013 International Conference on Unmanned Aircraft Systems, Atlanta, pp. 391-396 (2013)
5. Godbolt, B., Vitzilaios, N. I., Lynch, A. F.: Experimental validation of a helicopter autopilot design using modelbased PID control. J. Intell. Robot. Syst. 70, 385-399 (2013)
6. Horn, R. A., Johnson, C. R.: Matrix Analysis. Cambridge University Press, Cambridge (1985)
7. Isidori, A., Marconi, L., Serrani, A.: Robust nonlinear motion control of a helicopter. IEEE Trans. Autom. Control 48, 413-426 (2003)
8. Kannan, S. K.: Adaptive control of systems in cascade with saturation. Ph. D. thesis, School of Aerospace Engineering, Georgia Institute of Technology, Atlanta (2005)
9. Kelly, R.: A tuning procedure for stable PID control of robot manipulators. Robotica 13, 141-148 (1995)
10. Kendoul, F.: Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems. J. Field Robot. 29, 315-378 (2012)
11. Kendoul, F., Fantoni, I., Lozano, R.: Asymptotic stability of hierarchical inner-outer loop-based flight controllers. In: 17th IFAC World Congress, Seoul, pp. 1741-1746 (2008)
12. Koo, T. J., Sastry, S.: Output tracking control design of a helicopter model based on approximate linearization. In: Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, pp. 3635-3640 (1998)
13. Mahony, R., Hamel, T.: Robust trajectory tracking for a scale model autonomous helicopter. Int. J. Robust Nonlinear Control 14, 1035-1059 (2004)
14. Marconi, L., Naldi, R.: Robust full degree-of-freedom tracking control of a helicopter. Automatica 43, 1909-1920 (2007)
15. Van Nieuwstadt, M. J., Murray, R. M.: Outer flatness: trajectory generation for a model helicopter. In: Proceedings of the European Control Conference (CD-ROM), Brussels (1997)
16. Raptis, I. A., Valavanis, K. P., Moreno, W. A.: A novel nonlinear backstepping controller design for helicopters using the rotation matrix. IEEE Trans. Control Syst. Technol. 19, 465-473 (2011)
17. Tsiotras, P.: Further passivity results for the attitude control problem. IEEE Trans. Autom. Control 43, 1597-1600 (1998)
18. ANCL/autopilot - Github: http://github.com/ANCL/autopilot (2012). Accessed 5 June 2013