The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

This paper presents results from the attitude control optimization for a small-scale helicopter by using an identified model of the vehicle dynamics that explicitly accounts for the coupled rotor/stabilizer/fuselage (r/s/f) dynamics. The accuracy of the model is verified by showing that it successfully predicts the performance of the control system currently used for Carnegie Mellon's autonomous helicopter (baseline controller). Elementary stability analysis shows that the light damping in the coupled r/s/f mode, which is due to the stabilizer bar, limits the performance of the baseline control system. This limitation is compensated by a second order notch filter. The control system is subsequently optimized using the CONDUIT control design framework with a frequency response envelope specification, which allows the attitude control performance to be accurately specified while insuring that the lightly damped r/s/f mode is adequately compensated.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): Helicopter Lab

Associated Project(s): Autonomous Helicopter

Number of pages: 10

Text Reference

Bernard Mettler, M. B. Tischler, and Takeo Kanade, "Attitude Control Optimization for a Small-Scale Unmanned Helicopter," AIAA Guidance, Navigation and Control Conference, 2000.

BibTeX Reference

@inproceedings{Mettler_2000_4878,
   author = "Bernard Mettler and M. B. Tischler and Takeo Kanade",
   title = "Attitude Control Optimization for a Small-Scale Unmanned Helicopter",
   booktitle = "AIAA Guidance, Navigation and Control Conference",
   year = "2000",
}

The Robotics Institute

Menu