Low cost controller for small scale helicopter

Chingozha, Tinashe; Nyandoro, Otis T.; Malani, A.

doi:10.1109/iciea.2013.6566409

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…In [36], backstepping is used to stabilize the translational and attitude dynamics for hover and trajectory tracking. Backstepping is also used to perform trajectory generation for target tracking using a discretized nonlinear controller in [165].…”

Section: Nonlinear Backstepping Controllersmentioning

confidence: 99%

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Alvarenga

Vitzilaios

Valavanis

et al. 2014

J Intell Robot Syst

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Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last two decades. Although many challenges still exist, one of the main UAS focus research areas is in navigation and control. This paper provides a comprehensive overview of helicopter navigation and control, focusing specifically on small-scale traditional main/tail rotor configuration helicopters. Unique to this paper, is the emphasis placed on navigation/control methods, modeling techniques, loop architectures and structures, and implementations. A 'reference template' is presented and used to provide a basis for comparative studies and determine the capabilities and limitations of algorithms for unmanned/autonomous flight, as well as for navigation, and control. A detailed listing of related research is provided, which includes model structure, helicopter platform, control method and loop architecture, flight maneuvers and results for each. The results of this study was driven by and has led to the development of a 'one-fits-all' comprehensive and modular navigation controller and timing architecture applicable to any rotorcraft platform.

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Section: Nonlinear Backstepping Controllersmentioning

confidence: 99%

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

Alvarenga

Vitzilaios

Valavanis

et al. 2014

J Intell Robot Syst

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“…Sensor fusion can overcome the gyroscope drifting problem as its bias will be continuously recalibrated based on estimated error and accelerometer readings measurement. To address this sensor fusion problem the Kalman filter solution is proposed [15], however due to the involvement of a non-linear system of equations, the Extended Kalman filter version has been employed to simplify implementation. Due to the microcontroller limitation and in favor of speeding up the calculation as fast as possible the equations here are simplified whenever it is possible.…”

Section: Reading Rotation Angle From the Helicopter Modelmentioning

confidence: 99%

PID Control of a Lab Scale Single-Rotor Helicopter System using a Multicore Microcontroller

Moness

Khaled

Bakr

et al. 2015

International Conference on Aerospace Sciences and Aviation Tec

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In this paper, a lab-scale single-rotor helicopter system is modeled and controlled. The introduced system is first modeled mathematically and then modeled with an online identification method using MATLAB. The model is then used to design a PID controller for the system. The designed controller is then implemented using a multicore microcontroller. The control task is one of the tasks in the introduced control software where the role of the microcontroller is to execute it along with many different tasks like interfacing sensors and actuators, tuning control parameters, data filtering and logging. The implemented control system uses a multicore microcontroller to execute all tasks simultaneously and hence improves performance and functionality. It is also demonstrated that using multicore microcontrollers can reduce design-time, implementation-time and cost while keeping higher performance rates. This contribution shows that it is possible to design and implement complex real-time embedded control systems that employ advanced control algorithms using multicore microcontrollers.

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“…In this scope, helicopter-like versions (Fujiwara et al, 2004;Chingozha et al, 2013) and quadrotors (Castillo et al, 2005;Raffo et al, 2010) are by far the most researched aerial systems. Still, another model that receives attention are aircrafts with tiltrotor configurations.…”

Section: Introductionmentioning

confidence: 99%