TY - GEN
T1 - Optimal controller for an autonomous helicopter in hovering and forward flight
AU - Zhao, L.
AU - Murthy, V. R.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:78549256409
SN - 9781563479694
T3 - 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
BT - 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
T2 - 47th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition
Y2 - 5 January 2009 through 8 January 2009
ER -