Attitude Control Optimization for a Small-Scale Unmanned Helicopter

Bernard Mettler, M. B. Tischler, and Takeo Kanade
AIAA Guidance, Navigation and Control Conference, 2000.


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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",
}