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

60 Citations (Scopus)

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

Fingerprint

Helicopters
Trajectories
Robustness (control systems)
Control systems
Recovery
Controllers

Cite this

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..

Control logic for automated aerobatic flight of a miniature helicopter. / Gavrilets, V.; Martinos, I.; Mettler, B.; Feron, E.

AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).

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

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., AIAA Guidance, Navigation, and Control Conference and Exhibit 2002, Monterey, CA, United States, 8/5/02.
Gavrilets V, Martinos I, Mettler B, Feron E. Control logic for automated aerobatic flight of a miniature helicopter. In AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc. 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).
Gavrilets, V. ; Martinos, I. ; Mettler, B. ; Feron, E. / Control logic for automated aerobatic flight of a miniature helicopter. AIAA Guidance, Navigation, and Control Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA Guidance, Navigation, and Control Conference and Exhibit).
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