Optimal controller for an autonomous helicopter in hovering and forward flight

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

8 Citations (Scopus)

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 - 2009
Event47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition - Orlando, FL, United States
Duration: Jan 5 2009Jan 8 2009

Other

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

Fingerprint

hovering
helicopters
Helicopters
controllers
flight
Controllers
matrix
genetic algorithm
control system
disturbance
simulation
matrices
State feedback
genetic algorithms
disturbances
Genetic algorithms
method
Control systems
index

ASJC Scopus subject areas

  • Space and Planetary Science
  • Aerospace Engineering

Cite this

Zhao, L., & Murthy, V. (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]

Optimal controller for an autonomous helicopter in hovering and forward flight. / Zhao, L.; Murthy, Vadrevu.

47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. 2009. 2009-0057.

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

Zhao, L & Murthy, V 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, Orlando, FL, United States, 1/5/09.
Zhao L, Murthy V. 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. 2009-0057
Zhao, L. ; Murthy, Vadrevu. / Optimal controller for an autonomous helicopter in hovering and forward flight. 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition. 2009.
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