Adaptive flight control for an autonomous unmanned helicopter

Eric Johnson, Suresh K. Kannan

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

143 Scopus citations

Abstract

For autonomous helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. The outerloop generates attitude commands that orient the main rotor forces appropriately to generate required translational accelerations. Recent work in Neural Network based adaptive flight control may be applied to control a helicopter where the reference commands include position, velocity, attitude and angular rate. The outerloop is used to correct the commanded attitude in order to follow position and velocity commands. This however generally requires a model of the translational dynamics which has some model error. This paper introduces adaptation in the outerloop using Pseudo Control Hedging in a way that prevents adaptation to the innerloop dynamics. Additionally, hedging is used in the innerloop to avoid incorrect adaptation while at control limits. Such an approach along with correct placement of the combined poles of the linearized system mitigates inner/outer loop interaction problems and allows one to increase bandwidth in the outerloop, thus, improving tracking performance further.

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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All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Johnson, E., & Kannan, S. K. (2002). Adaptive flight control for an autonomous unmanned 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..