Attitude control optimization for a small-scale unmanned helicopter

Bernard Mettler, Takeo Kanade, Mark B. Tischler, William Messner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

57 Scopus citations

Abstract

This paper presents results from the attitude control optimization for a small-scale helicopter by using an identified model of the vehicle dynamics that explicitly accounts for the coupled rotor/stabilizer/fuselage (r/s/f) dynamics. The accuracy of the model is verified by showing that it successfully predicts the performance of the control system currently used for Carnegie Mellon's autonomous helicopter (baseline controller). Elementary stability analysis shows that the light damping in the coupled r/s/f mode, which is due to the stabilizer bar, limits the performance of the baseline control system. This limitation is compensated by a second order notch filter. The control system is subsequently optimized using the CONDUIT control design framework with a frequency response envelope specification, which allows the attitude control performance to be accurately specified while insuring that the lightly damped r/s/f mode is adequately compensated.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2000
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2000 - Dever, CO, United States
Duration: Aug 14 2000Aug 17 2000

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2000
CountryUnited States
CityDever, CO
Period8/14/008/17/00

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  • Cite this

    Mettler, B., Kanade, T., Tischler, M. B., & Messner, W. (2000). Attitude control optimization for a small-scale unmanned helicopter. In AIAA Guidance, Navigation, and Control Conference and Exhibit