Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter

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Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter

Gavrilets, Vladislav / Martinos, Ioannis / Mettler, Bernard / Feron, Eric

In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute an aerobatic maneuver under computer control. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies for maneuver execution. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery from the maneuver to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modelling errors. This approach can be used with an advanced motion planning algorithm which utilizes the vehicle agility.

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Document information

Title :

Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter

Contributors:

Siciliano, Bruno (editor) / Dario, Paolo (editor) / Gavrilets, Vladislav (author) / Martinos, Ioannis (author) / Mettler, Bernard (author) / Feron, Eric (author)

Published in:

Experimental Robotics VIII ; Chapter : 41 ; 456-465

Springer Tracts in Advanced Robotics ; 5

Publication date :

2003-06-30

Size :

10 pages

ISBN :

978-3-540-36268-5 , 978-3-540-00305-2

ISSN :

1610-7438

DOI :