Dynamic inversion based flight control for autonomous RMAX helicopter

被引：15
|
作者：
Enns, Dale [1 ]
Keviczky, Tamas [1 ,2 ]
机构：
[1] Honeywell Labs, Minneapolis, MN 55418 USA
[2] Univ Minnesota, Minneapolis, MN 55455 USA
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1657330
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A dynamic inversion based flight control architecture is developed for autonomous operation of the Yamaha RMAX helicopter. The controller is composed of a nested sequence of attitude, velocity and position dynamic inversion loops with feedforward of acceleration and velocity commands. This architecture greatly improves trajectory tracking for quick collision avoidance and trajectory tracking or position keeping in windy conditions. Sensitivity to modeling errors is reduced by relying on residualized models of the aircraft and exploiting the stabilizer bar and yaw rate gyro feedback. The closed loop system performance is analyzed for both hover and cruise conditions.
引用
收藏
页码：3916 / +
页数：4
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