Title :
A hybrid control architecture for aggressive maneuvering of autonomous helicopters
Author :
Frazzoli, Emilio ; Dahleh, Munther A. ; Feron, Eric
Author_Institution :
Dept. of Aeronaut. & Astronaut., MIT, MA, USA
Abstract :
We propose a hierarchical control architecture for aggressive maneuvering applicable to autonomous helicopters. In order to reduce the computational requirements of the control problem to be solved to achieve aggressive trajectories, a hybrid system framework is used, which allows for a substantial reduction in the complexity of the system, as well as for guarantees on the stability of the overall behavior. The hybrid controller is based on an automaton whose states represent feasible trajectory primitives. The selection of manoeuvres, and hence the generation of the complete trajectory, can be cast as an optimal control problem that can be solved efficiently in real time
Keywords :
aircraft control; helicopters; hierarchical systems; optimal control; stability; aggressive maneuvering; aircraft control; autonomous helicopters; hierarchical control; hybrid control; optimal control; stability; trajectory control; Aerospace control; Aircraft; Automata; Automatic control; Computer architecture; Control systems; Helicopters; Optimal control; Remotely operated vehicles; Unmanned aerial vehicles;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831296