Adaptive trajectory based control for autonomous helicopters

Suresh K. Kannan, Eric N. Johnson

Research output: Contribution to conferencePaper

25 Citations (Scopus)

Abstract

For autonomous helicopters it is common to design a high-performance tracking controller for the attitude dynamics (innerloop) followed by a simpler, lower bandwidth design that tracks commanded position and velocity (outerloop). Separating these two designs places restrictions on the maximum bandwidth of the outerloop. This paper continues to make a conceptual separation between inner and outerloop designs, but, the final choice of compensator gains is made by treating both loops together. The controller design for both loops use feedback linearization with an adaptive element (neural network) to account for model inversion error. Pseudo Control Hedging is used to protect the adaptive element from actuator saturation nonlinearties and also from inner-outerloop interaction. The resulting control system allows position, velocity, attitude and angular rate commands. The outerloop however augments an attitude correction, that allows tracking of position and velocity in addition to attitude and angular rate.

Original languageEnglish (US)
Pages8D11-8D112
StatePublished - Jan 1 2002
EventAir Traffic Management for Commercial and Military Systems - Irvine, CA, United States
Duration: Oct 27 2002Oct 31 2002

Other

OtherAir Traffic Management for Commercial and Military Systems
CountryUnited States
CityIrvine, CA
Period10/27/0210/31/02

Fingerprint

Helicopters
Trajectories
Bandwidth
Controllers
Feedback linearization
Actuators
Neural networks
Control systems

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering

Cite this

Kannan, S. K., & Johnson, E. N. (2002). Adaptive trajectory based control for autonomous helicopters. 8D11-8D112. Paper presented at Air Traffic Management for Commercial and Military Systems, Irvine, CA, United States.
Kannan, Suresh K. ; Johnson, Eric N. / Adaptive trajectory based control for autonomous helicopters. Paper presented at Air Traffic Management for Commercial and Military Systems, Irvine, CA, United States.
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Kannan, SK & Johnson, EN 2002, 'Adaptive trajectory based control for autonomous helicopters', Paper presented at Air Traffic Management for Commercial and Military Systems, Irvine, CA, United States, 10/27/02 - 10/31/02 pp. 8D11-8D112.

Adaptive trajectory based control for autonomous helicopters. / Kannan, Suresh K.; Johnson, Eric N.

2002. 8D11-8D112 Paper presented at Air Traffic Management for Commercial and Military Systems, Irvine, CA, United States.

Research output: Contribution to conferencePaper

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Kannan SK, Johnson EN. Adaptive trajectory based control for autonomous helicopters. 2002. Paper presented at Air Traffic Management for Commercial and Military Systems, Irvine, CA, United States.