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

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

3629

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on

Conference_Location

Tampa, FL

ISSN

0191-2216

Print_ISBN

0-7803-4394-8

Type

conf

DOI

10.1109/CDC.1998.761744

Filename

761744