Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter
Yang, Xilin, Garratt, Matt, & Pota, Hemanshu (2011) Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter. Robotics and Autonomous Systems, 59(12), pp. 1070-1079.
This paper presents a practical scheme to control heave motion for hover and automatic landing of a Rotary-wing Unmanned Aerial Vehicle (RUAV) in the presence of strong horizontal gusts. A heave motion model is constructed for the purpose of capturing dynamic variations of thrust due to horizontal gusts. Through construction of an effective gust estimator, a feedback-feedforward controller is developed which uses available measurements from onboard sensors. The proposed controller dynamically and synchronously compensates for aerodynamic variations of heave motion, enhancing disturbance-attenuation capability of the RUAV. Simulation results justify the reliability and efficiency of the suggested gust estimator. Moreover, flight tests conducted on our Eagle helicopter verify suitability of the proposed control strategy for small RUAVs operating in a gusty environment.
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|Item Type:||Journal Article|
|Keywords:||Autonomous helicopter, Feed-forward control, Rotary-wing unmanned aerial vehicle, Gust estimator, Gust attenuation|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2011 Elsevier B.V.|
|Copyright Statement:||NOTICE: this is the author’s version of a work that was accepted for publication in Robotics and Autonomous Systems. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Robotics and Autonomous Systems, [Volume 59, Issue 12, (December 2011)] DOI: 10.1016/j.robot.2011.08.004|
|Deposited On:||17 Oct 2013 05:29|
|Last Modified:||30 Oct 2013 11:52|
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