Transforming Civil Helicopters into Personal Aerial Vehicles: Modeling, Control, and Validation

Geluardi, Stefano; Venrooij, Joost; Olivari, Mario; Bülthoff, Heinrich H.; Pollini, Lorenzo

doi:10.2514/1.g002605

Cited by 7 publications

(11 citation statements)

References 10 publications

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“…The discrete time step was chosen based on rough approximations and estimations of the dynamics of personal aerial vehicles [50,51]. Since the aim of the middle layer is to determine the prescribed behaviour of the bottom level and provide a reference to the guidance algorithm, therefore the time step size was selected considering the settling time of the step response dynamics, which is t = 5 s for both longitudinal velocity transfer functions in the cited references.…”

Section: Simulation Scenariomentioning

confidence: 99%

Traffic conflict reduction based on distributed stochastic task allocation

2022

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The aim of this paper is to provide preliminary results on a traffic coordination framework based on stochastic task allocation. General trends and the predicted advent of personal aerial vehicles increase traffic rapidly, but current air traffic management methods admittedly cannot scale appropriately. A hierarchical system is proposed to overcome the problem, the middle layer of which is elaborated in this paper. This layer aims to enable stochastic control of traffic behaviour using a single parameter, which is achieved by applying distributed stochastic task allocation. The task allocation algorithm is used to allocate speeds to vehicles in a scalable way. By regulating the speed distribution of vehicles the conflict rates remain manageable. Multi-agent simulation results show that it is possible to control ensemble dynamics and together with that traffic safety and throughput via a single parameter. Using transient simulations the dynamic performance of the system is analysed. It is shown that the traffic conflict reduction problem can be transformed into a control design problem. The performance of a simple controller is also evaluated. It was shown that by applying the controller, quicker transients can be achieved for the mean speed of the system.

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Section: Simulation Scenariomentioning

confidence: 99%

Traffic conflict reduction based on distributed stochastic task allocation

2022

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“…Experimental studies into emerging VTOL concepts [1,2,7] suggest that the essential vehicle responses that simplify piloting and guidance tasks are: second-order attitude command attitude hold (ACAH) in the fuselage pitch and roll axes, first-order vertical rate command height hold (RCHH) in the fuselage heave axis, and first-order yaw rate command direction hold (RCDH) in the fuselage yaw axis. Here, an attitude (rate) command is to be understood in the sense that an axial step input, either by a pilot or a guidance system, shall produce second (first) order attitude (rate) responses at the plant output only in the concerned axis; off-axial responses shall be suppressed.…”

Section: Response Requirements For Good Handling Qualitiesmentioning

confidence: 99%

“…These parametric values can be tailored to meet vehicle-specific response crtieria. In the present work, the following values are chosen from previous studies into passenger VTOL [1,2,7], which provide a high-bandwidth attitude and rate control system: ω θ = ω φ = 2.34, ζ θ = 0.9, ζ φ = 0.75, λ r = 4, and λ w = 0.95. Figure 4 shows the time-and frequency-domain responses of the specified ideal response characteristics.…”

Section: Response Requirements For Good Handling Qualitiesmentioning

confidence: 99%

“…In order for the sliding variable in Equation ( 7) to be written as a linear combination of the system state, the state vector must include the integral states on the right hand side of Equation (7). To do so, the original state vector x from (1) is augmented with four integral states x r (t) = t t 0 (y(τ) − r(τ))dτ to obtain an augmented state vector, written as x ≡ [x r x] .…”

Section: Sliding Manifoldmentioning

confidence: 99%

“…For instance, References [1,2] reported in their experiments that very few "flight-naïve" test subjects they examined could safely translate an unaugmented VTOL personal aerial vehicle; only about half of them could use an attitude and rate command system, while a majority of them required a translational rate command system. Likewise, Reference [7] showed that inexperienced pilots could only fly a conventional helicopter when it was augmented via their H ∞ and µ controllers to offer translational rate command responses. Reference [8] showed the ability of a robust sliding mode flight controller to alleviate pilot workload for a shipboard landing task.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Continuous Multivariable Finite-Time Super-Twisting Attitude and Rate Controller for Improved Rotorcraft Handling

Halbe

Hajek

2021

Aerospace

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This paper synthesizes a continuous, multivariable, finite-time-convergent, super-twisting attitude and rate controller for rotorcraft with the objective of providing desired handling qualities and robustness characteristics. A sliding manifold is defined in the system state space to represent ideal attitude and rate command response dynamics of relative degree one with respect to the command input. Subsequently, robust command tracking is achieved via the synthesis of a multivariable super-twisting flight controller, which renders the plant states convergent on to the defined sliding manifold in finite-time and in the presence of matched external disturbance input. To validate the efficacy of the controller, simulation results are presented based on a nonlinear, higher-order rotorcraft model operating in turbulence. True system convergence to the sliding manifold from an untrimmed state is shown to lie within the theoretically predicted finite-time convergence bound. Furthermore, simulations with a linear quadratic flight controller are also presented for performance comparison with the proposed super-twisting flight controller.

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Robust Continuous Finite-Time Control of a Helicopter in Turbulence

Halbe

Oza

2021

IEEE Control Syst. Lett.

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Transforming Civil Helicopters into Personal Aerial Vehicles: Modeling, Control, and Validation

Cited by 7 publications

References 10 publications

Traffic conflict reduction based on distributed stochastic task allocation

Traffic conflict reduction based on distributed stochastic task allocation

A Continuous Multivariable Finite-Time Super-Twisting Attitude and Rate Controller for Improved Rotorcraft Handling

Robust Continuous Finite-Time Control of a Helicopter in Turbulence

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