Autonomous flight control system designed for small-scale helicopter based on approximate dynamic inversion

This paper describes the development of an autonomous flight control system for small-scale unmanned helicopter based on approximate dynamic inversion (ADI) method. The flight controller consists of inner-loop attitude control, mid-loop velocity control and outer-loop position control. Previous rese...

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Vydáno v:2011 3rd International Conference on Advanced Computer Control s. 185 - 191
Hlavní autoři: Zhiyang Zhang, Fei Hu, Jian Li
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.01.2011
Témata:
Approximate Dynamic Inversion
Flight Control
Gold
Helicopters
Mathematical model
MATLAB
Proportional-Integral
UAV Helicopter
ISBN:1424488095, 9781424488094
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Abstract This paper describes the development of an autonomous flight control system for small-scale unmanned helicopter based on approximate dynamic inversion (ADI) method. The flight controller consists of inner-loop attitude control, mid-loop velocity control and outer-loop position control. Previous researches have shown that for minimum-phase, nonaffine-in-control system, Proportional-Integral (PI) controller is an equivalent realization of ADI control law in time response. In this paper, we also design a PI controller to verify this statement in the Yamaha R50 UAV helicopter model and then compare the two control methods' performance and features using flight data obtained in simulation. Simulation results show that both ADI and PI control approaches achieve excellent performance. The autonomous flight control system designed in this paper successfully drives the helicopter to fly autonomously and execute flight missions.
AbstractList This paper describes the development of an autonomous flight control system for small-scale unmanned helicopter based on approximate dynamic inversion (ADI) method. The flight controller consists of inner-loop attitude control, mid-loop velocity control and outer-loop position control. Previous researches have shown that for minimum-phase, nonaffine-in-control system, Proportional-Integral (PI) controller is an equivalent realization of ADI control law in time response. In this paper, we also design a PI controller to verify this statement in the Yamaha R50 UAV helicopter model and then compare the two control methods' performance and features using flight data obtained in simulation. Simulation results show that both ADI and PI control approaches achieve excellent performance. The autonomous flight control system designed in this paper successfully drives the helicopter to fly autonomously and execute flight missions.
Author Zhiyang Zhang
Fei Hu
Jian Li
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  surname: Jian Li
  fullname: Jian Li
  email: li-jian@cs.sjtu.edu.cn
  organization: Sch. of Software, Shanghai Jiao Tong Univ., Shanghai, China
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Snippet This paper describes the development of an autonomous flight control system for small-scale unmanned helicopter based on approximate dynamic inversion (ADI)...
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StartPage 185
SubjectTerms Approximate Dynamic Inversion
Flight Control
Gold
Helicopters
Mathematical model
MATLAB
Proportional-Integral
UAV Helicopter
Title Autonomous flight control system designed for small-scale helicopter based on approximate dynamic inversion
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