Title:
Adaptive Flight Control for an Autonomous Unmanned Helicopter
Adaptive Flight Control for an Autonomous Unmanned Helicopter
Author(s)
Johnson, Eric N.
Kannan, Suresh K.
Kannan, Suresh K.
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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.
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Date Issued
2002-08
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Article