A multivariable adaptive controller for autonomous helicopters | IEEE Conference Publication | IEEE Xplore

A multivariable adaptive controller for autonomous helicopters


Abstract:

Control of autonomous helicopters in the presence of environmental and system uncertainties is a challenging task. These uncertainties not only change the dynamics of the...Show More

Abstract:

Control of autonomous helicopters in the presence of environmental and system uncertainties is a challenging task. These uncertainties not only change the dynamics of the system, but also the trim inputs themselves. In the paper, a multivariable adaptive control methodology is proposed that is applicable for general maneuvers with arbitrary speeds and high bandwidth requirements. The control design methodology achieves global stability, and is tested on a high fidelity simulation of an autonomous helicopter. The results indicate a satisfactory tracking performance even as the speeds and bandwidth requirements are increased well beyond hover, and as the parametric uncertainties and nonlinearities were increased to about 20% of their nominal values.
Date of Conference: 08-10 May 2002
Date Added to IEEE Xplore: 07 November 2002
Print ISBN:0-7803-7298-0
Print ISSN: 0743-1619
Conference Location: Anchorage, AK, USA

References

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