Application of software enabled control technologies to a full-scale unmanned helicopter

Graham Drozeski, Ilkay Yavrucuk, Eric Johnson, J. V.R. Prasad, Daniel Schrage, George Vachtsevanos

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

Abstract

This paper presents a control architecture designed to accommodate a selection of modern control algorithms on a full-scale rotary-wing, unmanned aerial vehicle. The architecture integrates a visual landing system, two path planners, a flight envelope protection algorithm, and two low-level flight controllers that were developed independently by six agencies in academia and industry. A newly developed vehicle model and an exportable simulation environment were assembled in an open control infrastructure to expedite the algorithm development The collaboration resulted in successful flight testing of the architecture and multiple control algorithms on Boeing's Renegade Unmanned Aerial Vehicle, a derivative of the Robinson R22. The aircraft successfully switched from a conventional flight controller to an adaptive neural network flight controller on four occasions making it the largest helicopter to operate under adaptive neural network Eight control.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Atmospheric Flight Mechanics Conference 2005
Pages1271-1277
Number of pages7
StatePublished - 2005
EventAIAA Atmospheric Flight Mechanics Conference 2005 - San Francisco, CA, United States
Duration: Aug 15 2005Aug 18 2005

Publication series

NameCollection of Technical Papers - AIAA Atmospheric Flight Mechanics Conference
Volume2

Other

OtherAIAA Atmospheric Flight Mechanics Conference 2005
CountryUnited States
CitySan Francisco, CA
Period8/15/058/18/05

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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