Optimal controller for an autonomous helicopter in hovering and forward flight

L. Zhao, V. R. Murthy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

In this paper, an optimal controller is investigated based on the Linear Quadratic Control method. The controller simulation is executed based on a small-scale autonomous model helicopter, Yamaha R-50. Genetic algorithms are employed to generate weighting matrices by optimizing the performance index of the control system. As a result, this method produces optimal weighting matrices which further improve the Linear Quadratic Controller. A full state feedback approach is used in the control design process. A Kalman observer is integrated into the controller to predict full state variables, since only a limited number of state variables are measured. Finally, the performance of the controller is evaluated in the time domain with and without disturbances when the model helicopter is in hovering flight and forward flight.

Original languageEnglish (US)
Title of host publication47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
StatePublished - Dec 1 2009
Event47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition - Orlando, FL, United States
Duration: Jan 5 2009Jan 8 2009

Publication series

Name47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition

Other

Other47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
CountryUnited States
CityOrlando, FL
Period1/5/091/8/09

ASJC Scopus subject areas

  • Space and Planetary Science
  • Aerospace Engineering

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  • Cite this

    Zhao, L., & Murthy, V. R. (2009). Optimal controller for an autonomous helicopter in hovering and forward flight. In 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition [2009-0057] (47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition).