NDLI: Robust flight control system design for an indoor miniature coaxial helicopter

Content Provider	IEEE Xplore Digital Library
Author	Biao Wang Fei Wang Chen, B.M. Lee, T.H.
Copyright Year	2012
Description	Author affiliation: Department of Automatic Control, Nanjing University of Aeronautics & Astronautics, China 210016 (Biao Wang) \|\| Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576 (Fei Wang; Chen, B.M.; Lee, T.H.)
Abstract	A complete flight control scheme with detailed design methodology is proposed for an indoor miniature coaxial helicopter with fixed collective pitch. To avoid system complexity and the problem of minimum phase control, the helicopter dynamic model is decomposed into two cascaded subsystems: an inner one for attitude and heading control and the outer one for trajectory control. H-infinity control technique and robust and perfect tracking method are used to respectively design the inner- and outer-loop controllers. By using the so-called asymptotic time-scale and eigenstructure assignment approach, the design process becomes very systematic and effective. The performance of the autonomous flight control system has been successfully validated in actual flight tests.
Starting Page	2918
Ending Page	2924
File Size	389061
Page Count	7
File Format	PDF
ISBN	9781467313971
e-ISBN	9781467313988
DOI	10.1109/WCICA.2012.6358369
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-06
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Helicopters State feedback Acceleration Dynamics Trajectory Robust Control UAV Flight Control
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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