Title :
Hierarchical control of small autonomous helicopters
Author :
Sanders, Christopher P. ; DeBitetto, Paul A. ; Feron, Eric ; Vuong, Hon Fai ; Leveson, Nancy
Author_Institution :
Charles Stark Draper Lab. Inc., Cambridge, MA, USA
Abstract :
Autonomous air vehicles have numerous applications, all of which require the vehicle to have stable and accurate control of its motion. In the paper, a hierarchical control system for small autonomous helicopters is described. The control system consists of four components: a navigation filter, an inner-loop hover control system, a waypoint guidance system, and a ground-based flight manager. All four elements of the control system have been verified with flight tests of the Draper small autonomous air vehicle
Keywords :
Global Positioning System; Kalman filters; aircraft navigation; helicopters; hierarchical systems; inertial navigation; remotely operated vehicles; Draper small autonomous air vehicle; ground-based flight manager; hierarchical control; inner-loop hover control system; navigation filter; small autonomous helicopters; waypoint guidance system; Cameras; Communication system control; Control systems; Graphical user interfaces; Hardware; Helicopters; Laboratories; Mobile robots; Remotely operated vehicles; Space technology;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.761744
