Cascaded control of 3D path following for an unmanned helicopter

Author

Wang, Biao ; Dong, Xiangxu ; Chen, Ben M.

Author_Institution

Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore

fYear

2010

fDate

28-30 June 2010

Firstpage

70

Lastpage

75

Abstract

The objective of the paper is to design the control system of following a predefined 3D path while maintaining a specified flight speed and considering the timing constraint. This can be accomplished by a cascaded solution framework based on theoretical dynamic error modeling. The controller for each loop can thus be designed separately so that the design problem is simplified and the control system can be implemented easily in pratice. A promising performance has be demonstrated by an accurate nonlinear simulation at current stage.

Keywords

aerospace robotics; aircraft control; cascade control; helicopters; remotely operated vehicles; 3D path following; cascaded control; cascaded solution framework; controller design; flight speed; nonlinear simulation; unmanned helicopter; Aerodynamics; Aerospace engineering; Attitude control; Control systems; Feedback; Helicopters; Nonlinear dynamical systems; Timing; Unmanned aerial vehicles; Velocity control; Feedback Linearization; LQR; Path Following; Unmanned Helicopters;

fLanguage

English

Publisher

ieee

Conference_Titel

Cybernetics and Intelligent Systems (CIS), 2010 IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-6499-9

Type

conf

DOI

10.1109/ICCIS.2010.5518579

Filename

5518579