Cascaded Position and Heading Control of a Robotic Helicopter
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 135 - 140, October, 2007
Abstract
We present a cascaded control architecture for a Yamaha RMAX robotic helicopter. The controller is composed of an inner-loop that stabilizes the unstable poles of the helicopter's linear dynamic model; and an outer-loop that decouples the dynamics of the lateral, longitudinal, vertical, and heading axes and enables trajectory tracking. Actual flight results are presented to demonstrate the validity of the method. A discussion on the method's limitations and our plans on how to overcome them are also presented.
BibTeX
@conference{Bergerman-2007-9843,author = {Marcel Bergerman and Omead Amidi and James Ryan Miller and Nicholas M. Vallidis and Todd J. Dudek},
title = {Cascaded Position and Heading Control of a Robotic Helicopter},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2007},
month = {October},
pages = {135 - 140},
}
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