Planar spline trajectory following for an autonomous helicopter

Harbick, Kale; Montgomery, Jacqueline; Sukhatme, Gaurav S.

doi:10.1109/cira.2001.1013235

Cited by 19 publications

(6 citation statements)

References 10 publications

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“…3.1.2 Vector field method for generating the heading rate command: In some cases, when the helicopter flies in unknown environment, the planning desired path may be a cubic or more complex curve [4,29]. In this paper, the desired path shown as (13) is a generic curve instead of a straight line or a circle.…”

Section: Outer-loop Control Law Designmentioning

confidence: 99%

Combined of vector field and linear quadratic Gaussian for the path following of a small unmanned helicopter

Wang

Chen

Liang

et al. 2012

IET Control Theory Appl.

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In this study, a composite fight control method for the path following of a small unmanned helicopter is proposed. The control system design adopts the hierarchical control architecture that is composed of an inner-loop, an outer-loop and a planning layer. The inner-loop controller design is based on the setpoint tracking linear quadratic Gaussian control technique which can not only stabilise the dynamics of the helicopter, but also track the reference control signals provided by the outerloop controller well. The core part of the outer-loop controller design is based on the notion of vector field, which is used for generating the desired heading rate command. Lyapunov stability arguments are applied to demonstrate the asymptotic approximation to the desired path in the presence of wind disturbance. Experimental results are presented to verify the validity of the method.

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Section: Outer-loop Control Law Designmentioning

confidence: 99%

Combined of vector field and linear quadratic Gaussian for the path following of a small unmanned helicopter

Wang

Chen

Liang

et al. 2012

IET Control Theory Appl.

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“…In [11], a technique for planar trajectory is proposed where the trajectory is modeled as a planar spline. The goal is to have the UAV follow a reference trajectory specified by a B-cubic spline, which is said to be easy to construct using minimal user input and requires minimal computation.…”

Section: Flight Path Planning In 3dmentioning

confidence: 99%

HILS setup of dynamic flight path planning in 3D environment with flexible mission planning using Ground Station

Al‐Jarrah

Hasan

2011

Journal of the Franklin Institute

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“…This stems in part from the complexities involved in mathematically modeling helicopter dynamics [1], which are somewhat unstable and highly coupled [2] making it very difficult to control them. Some projects have indeed been implemented in this area ( [3], [4], [5], [6] and [7]). However most, if not all, involve elaborate solutions which are too complex and expensive to be applicable to everyday situations; many are oriented towards military applications.…”

Section: Introductionmentioning

confidence: 99%

Autonomous flight control for an RC helicopter

Camilleri

Scerri

Zammit

2012

2012 16th IEEE Mediterranean Electrotechnical Conference

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This paper presents an autopilot system for a Radio Controlled (RC) helicopter, in a simulation environment. The controller is designed using Fuzzy Logic in order to achieve simplicity and cost effectiveness. The system controls the helicopter from takeoff to landing, allowing the craft to reach any position and hover stably with a defined yaw attitude at the request of the user. The Fuzzy Inference Systems (FIS) in use were able to allow for these operations with more than satisfactory results, even in simulated winds.

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Planar spline trajectory following for an autonomous helicopter

Cited by 19 publications

References 10 publications

Combined of vector field and linear quadratic Gaussian for the path following of a small unmanned helicopter

Combined of vector field and linear quadratic Gaussian for the path following of a small unmanned helicopter

HILS setup of dynamic flight path planning in 3D environment with flexible mission planning using Ground Station

Autonomous flight control for an RC helicopter

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