Abstract:
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; an...Show MoreMetadata
Abstract:
We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling between the rotor and the fuselage, the complete system does not inherit the structure of a simple mechanical system. The coupled rotor fuselage dynamics is first transformed to a rigid body attitude tracking problem with first order actuator dynamics. The proposed controller is then developed using geometric and backstepping control techniques. The controller is globally defined on SO(3) and is shown to be locally exponentially stable. The controller is then validated in simulation and experiment for a 10 kg class small scale flybarless helicopter by demonstrating aggressive roll attitude tracking.
Date of Conference: 12-15 December 2017
Date Added to IEEE Xplore: 22 January 2018
ISBN Information: