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Cascaded Position and Heading Control of a Robotic Helicopter
M. Bergerman, O. Amidi, J.R. Miller, N.M. Vallidis, and T.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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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.

Associated center: VASC
Associated lab/group: Helicopter Lab
Associated project: Autonomous Helicopter

Number of pages: 6

M. Bergerman, O. Amidi, J.R. Miller, N.M. Vallidis, and T.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.

@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)",
   month = "October",
   year = "2007",
   pages = "135 - 140"
}