Cascaded Position and Heading Control of a Robotic Helicopter

Marcel Bergerman, Omead Amidi, James Ryan Miller , Nicholas M. Vallidis, and Todd J. Dudek
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 135 - 140.


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Abstract
We present a cascaded control architecture for a Yamaha RMAX robotic helicopter. The controller is composed of an inner-loop that stabilizes the unstable poles of the helicopter's linear dynamic model; and an outer-loop that decouples the dynamics of the lateral, longitudinal, vertical, and heading axes and enables trajectory tracking. Actual flight results are presented to demonstrate the validity of the method. A discussion on the method's limitations and our plans on how to overcome them are also presented.

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: 6

Text Reference
Marcel Bergerman, Omead Amidi, James Ryan Miller , Nicholas M. Vallidis, and Todd J. Dudek, "Cascaded Position and Heading Control of a Robotic Helicopter," Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 135 - 140.

BibTeX Reference
@inproceedings{Bergerman_2007_5911,
   author = "Marcel Bergerman and Omead Amidi and James Ryan {Miller } and Nicholas M Vallidis and Todd J Dudek",
   title = "Cascaded Position and Heading Control of a Robotic Helicopter",
   booktitle = "Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07)",
   pages = "135 - 140",
   month = "October",
   year = "2007",
}