A comprehensive study of control design for an autonomous helicopter

Author

Shim, H. ; Koo, T.J. ; Hoffmann, F. ; Sastry, S.

Author_Institution

Robotics & Intelligent Machines Lab., California Univ., Berkeley, CA, USA

Volume

4

fYear

1998

fDate

16-18 Dec 1998

Firstpage

3653

Abstract

We compare three different control methodologies for helicopter autopilot design: linear robust multivariable control, fuzzy logic control with evolutionary tuning, and nonlinear tracking control. The control design is based on nonlinear dynamic equations with a simplified thrust-torque generation model valid for hovering and low velocity flight. We verify the controller performance in various simulated manoeuvres

Keywords

aircraft control; control system analysis; fuzzy control; helicopters; linear systems; mobile robots; multivariable control systems; nonlinear control systems; remotely operated vehicles; robust control; autonomous helicopter; control design; evolutionary tuning; fuzzy logic control; helicopter autopilot design; hovering; linear robust multivariable control; low velocity flight; nonlinear dynamic equations; nonlinear tracking control; simulated manoeuvres; thrust-torque generation model; Aerodynamics; Control design; Helicopters; Intelligent robots; Mathematical model; Nonlinear control systems; Robust control; Rotors; Tail; Unmanned aerial vehicles;

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.1998.761749

Filename

761749