Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

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• 作者：Skander Taamallah^a ; ^{staamall@nlr.nl} ; Xavier Bombois^b ; ^{xavier.bombois@ec-lyon.fr} ; Paul M.J. Van den Hof^c ; ^{P.M.J.vandenhof@tue.nl}
• 关键词：Differential flatness ; Robust control ; Small-scale helicopter autorotation ; Unmanned aerial vehicle
• 刊名：Control Engineering Practice
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：58
• 期：Complete
• 页码：88-106
• 全文大小：1967 K
• 卷排序：58

文摘

The first real-time feasible, model-based trajectory planning and trajectory tracking system, for the case of a small-scale helicopter UAV in autorotation, is presented. A single LTI robust controller is capable of controlling and landing the helicopter system, in autorotation, for a relatively large variation in vehicle velocity and main rotor RPM. Tracking for the vertical channel (position and velocity) exhibits outstanding performance, whereas tracking performance for the horizontal channel is acceptable but not optimal. Horizontal channel tracking performance could be improved by considering: 1) a higher-order LTI plant for control design; or 2) a control method, e.g. LPV, that better exploits the system’s nonlinear structure.