Optimal Tracking Controller Design for a Small Scale Helicopter

Details Optimal Tracking Controller Design for a Small Scale Helicopter Optimal Tracking Controller Design for a Small Scale Helicopter

2008-04-24

arxiv.org/abs/0804.3897v1

Proceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007,

Computer Science

Robotics

Uploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 9 pages, 12 figures, 3 tables, 1 appendix

Scientific paper

A model helicopter is more difficult to control than its full scale counterparts. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This works is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as part of the development of an autonomous helicopter. Some issues in regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

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