Journal ArticleDOI
Inclusion of Rotor Dynamics in Controller Design for Helicopters
W. E. Hall,Arthur E. Bryson +1 more
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TLDR
In this paper, state-feedback controllers and state-estimators are designed for the roll-pitch-horizontal motions of a helicopter near hover, using a new quadratic synthesis technique.Abstract:
State-feedback-controllers and state-estimators (filters) are designed for the roll-pitch-horizontal motions of a helicopter near hover, using a new quadratic synthesis technique. One model (tenth order) uses a dynamic model of the rotor, whereas the other model (sixth order) assumes the rotor can be tilted instantaneously. It is shown that, for tight control, neglecting the rotor dynamics in designing the autopilot can produce unstable closed-loop response on the model that includes rotor dynamics. Two filters are designed to use only fuselage sensors and two are designed to use both fuselage and rotor sensors. It is shown that rotor states can be estimated with sufficient accuracy using only fuselage sensors so that it does not seem worthwhile to use rotor sensors. The mean square response of the vehicle to a gusty, random wind, using several different filter/state-feedback compensators, is shown to be satisfactory.read more
Citations
More filters
Hierarchical control system synthesis for rotorcraft-based unmanned aerial vehicles
TL;DR: This paper introduces the development of multiple number of Unmanned Arial Vehicle (UAV) system as a part of BErkeley AeRobot (BEAR) project, highlighting the recent achievements in the design and implementation of rotorcraft-based UAV (RUav) control system.
Journal ArticleDOI
Structured H-Infinity Command and Control-Loop Design for Unmanned Helicopters
TL;DR: In this article, the authors present rigorous and efficient methods for designing flight controllers for unmanned helicopters that have guaranteed performance, intuitive appeal for the flight control engineer, and prescribed multivariableloopstructures.
Journal ArticleDOI
H-Infinity Static Output-feedback Control for Rotorcraft
TL;DR: An output feedback approach is given that allows one to selectively close prescribed multivariable feedback loops using a reduced set of the states and yields control structures that have been historically accepted in the flight control community.
Proceedings ArticleDOI
Integrated modeling and robust control for full-envelope flight of robotic helicopters
TL;DR: This paper implemented and flight tested a gain-scheduled H/sub /spl infin// loop-shaping controller on the Carnegie Mellon University (CMU) Yamaha R-50 robotic helicopter and believes that this approach quickly delivers controllers that exploit the full dynamic capabilities of the airframe and thus are ready to be used by higher level navigation systems for complex autonomous missions.
Journal ArticleDOI
Design of Attitude and Rate Command Systems for Helicopters Using Eigenstructure Assignment
TL;DR: In this paper, the authors used eigenvector assignment to achieve decoupling of lateral, longitudinal, heave, and yaw modes and the desired command response characteristics for helicopter flight control.
References
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Journal ArticleDOI
The QR Transformation A Unitary Analogue to the LR Transformation—Part 1
Journal ArticleDOI
Matrix Quadratic Solutions
TL;DR: Matrix quadratic equation solution derivation applied in finding steady state solutions of Riccati differential equations with constant coefficients was applied in this article, where the solution was derived by using a linear combination of matrix quadratics and constant coefficients.
Journal ArticleDOI
An Eigenvector Solution of the Optimal Linear Regulator Problem
TL;DR: In this paper, Pontryagin's maximum principle is used to set up the equations governing optimally regulated motion, and a solution to these equations is obtained in terms of certain eigenvalues and eigenvectors of a matrix obtained from the equations defining optimal motion.
A user's manual for the Automatic Synthesis Program /program C/
T. S. Englar,R. E. Kalman +1 more
TL;DR: In this paper, the authors present a digital computer program for numerical solution of problems in system theory involving linear mathematics involving linear algebra. But they focus on linear algebra and do not consider linear geometry.