Title:
Adaptive Trajectory Control for Autonomous Helicopters
Adaptive Trajectory Control for Autonomous Helicopters
| dc.contributor.author | Johnson, Eric N. | |
| dc.contributor.author | Kannan, Suresh K. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | |
| dc.date.accessioned | 2010-11-09T21:19:39Z | |
| dc.date.available | 2010-11-09T21:19:39Z | |
| dc.date.issued | 2005 | |
| dc.description | Published in Journal of Guidance Control and Dynamics, Vol. 28, No. 3, May–June 2005. | en_US |
| dc.description | Presented as Paper 2002-4439 at the AIAA Guidance, Navigation, and Control Conference, Monterey, CA, 5–8 August 2002; received 5 November 2003; revision received 15 April 2004; accepted for publication 27 April 2004. This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. | |
| dc.description.abstract | For autonomous helicopter flight, it is common to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the translational trajectory of the helicopter. In previous work, dynamic inversion and neural-network-based adaptation was used to increase performance of the attitude control system and the method of pseudocontrol hedging (PCH) was used to protect the adaptation process from actuator limits and dynamics. Adaptation to uncertainty in the attitude, as well as the translational dynamics, is introduced, thus, minimizing the effects of model error in all six degrees of freedom and leading to more accurate position tracking. The PCH method is used in a novel way that enables adaptation to occur in the outer loop without interacting with the attitude dynamics. A pole-placement approach is used that alleviates timescale separation requirements, allowing the outer-loop bandwidth to be closer to that of the inner loop, thus, increasing position tracking performance. A poor model of the attitude dynamics and a basic kinematics model is shown to be sufficient for accurate position tracking. The theory and implementation of such an approach, with a summary of flight-test results, are described. | en_US |
| dc.identifier.citation | Adaptive Trajectory Control for Autonomous Helicopters. Eric N. Johnson, Suresh K. Kannan. Journal of Guidance Control and Dynamics, 28(3):524-538, 2005. | en_US |
| dc.identifier.issn | 0731-5090 | |
| dc.identifier.uri | http://hdl.handle.net/1853/35881 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | American Institute of Aeronautics and Astronautics, Inc. | |
| dc.subject | Adaptive control | en_US |
| dc.subject | Autonomous | en_US |
| dc.subject | Helicopter control | en_US |
| dc.subject | Trajectory control | en_US |
| dc.title | Adaptive Trajectory Control for Autonomous Helicopters | en_US |
| dc.type | Text | |
| dc.type.genre | Article | |
| dspace.entity.type | Publication | |
| local.contributor.author | Johnson, Eric N. | |
| local.contributor.corporatename | Daniel Guggenheim School of Aerospace Engineering | |
| local.contributor.corporatename | Aerospace Design Group | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
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