Control logic for automated aerobatic flight of a miniature helicopter

V. Gavrilets, I. Martinos, B. Mettler, E. Feron

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

61 Scopus citations

Abstract

In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute a completely automatic aerobatic maneuver. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modeling errors. This approach can be extended to a variety of maneuvers.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624101083
StatePublished - Jan 1 2002
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2002 - Monterey, CA, United States
Duration: Aug 5 2002Aug 8 2002

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2002
CountryUnited States
CityMonterey, CA
Period8/5/028/8/02

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    Gavrilets, V., Martinos, I., Mettler, B., & Feron, E. (2002). Control logic for automated aerobatic flight of a miniature helicopter. In AIAA Guidance, Navigation, and Control Conference and Exhibit (AIAA Guidance, Navigation, and Control Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc..