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IROS
2007
IEEE

Cascaded position and heading control of a robotic helicopter

13 years 10 months ago
Cascaded position and heading control of a robotic helicopter
— We present a cascaded control architecture for a Yamaha RMAX robotic helicopter. The controller is composed of an inner-loop that stabilizes the unstable poles of the helicopter’s linear dynamic model; and an outer-loop that decouples the dynamics of the lateral, longitudinal, vertical, and heading axes and enables trajectory tracking. Actual flight results are presented to demonstrate the validity of the method. A discussion on the method’s limitations and our plans on how to overcome them are also presented.
Marcel Bergerman, Omead Amidi, James Ryan Miller,
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where IROS
Authors Marcel Bergerman, Omead Amidi, James Ryan Miller, Nick Vallidis, Todd Dudek
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