Cascaded position and heading control of a robotic helicopter

被引：19

作者：

Berger-Man, Marcel ^{[1
]}

Amidi, Omead ^{[1
]}

Miller, James Ryan ^{[1
]}

Vallidis, Nicholas ^{[1
]}

Dudek, Todd ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Inst Robot, Pittsburgh, PA 15213 USA

来源：

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年

关键词：

D O I：

10.1109/IROS.2007.4399450

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：135 / 140

页数：6

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