Control logic for automated aerobatic flight of a miniature helicopter

V. Gavrilets, I. Martinos, B. Mettler, E. Feron

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

66 Scopus citations

Abstract

In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute a completely automatic aerobatic maneuver. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modeling errors. This approach can be extended to a variety of maneuvers. © 2002 by the author(s). Published by the American Institute of Aeronautics and Astronautics, Inc.
Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.custserv@aiaa.org
ISBN (Print)9781563479786
DOIs
StatePublished - Jan 1 2002
Externally publishedYes

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