SDRE flight control for X-Cell and R-Max autonomous helicopters
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (01912216) , 1196-1203 Vol.2
- https://doi.org/10.1109/cdc.2004.1430204
Abstract
This paper presents a state-dependent Riccati equation (SDRE) flight control approach and its application to autonomous helicopters. For our experiments, we used two different vehicles: an X-Cell-90 small hobby helicopter and a larger vehicle based on the Yamaha R-Max. The control design uses a 6-DOF nonlinear dynamic model that is manipulated into a pseudolinear form where system matrices are given explicitly as a function of the current state. A standard Riccati equation is then solved numerically at each step of a 50 Hz control loop to design the nonlinear state feedback control law online. In addition, a static nonlinear compensator is designed to address issues with the mismatch between the original nonlinear dynamics and its pseudolinear transformation.Keywords
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