NDLI: An experimental study of hierarchical autopilot for untrimmed hingeless helicopters

Content Provider	IEEE Xplore Digital Library
Author	Tak-Kit Lau Yun-hui Liu Kai-wun Lin
Copyright Year	2009
Description	Author affiliation: Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, China (Tak-Kit Lau; Yun-hui Liu; Kai-wun Lin)
Abstract	Different from previous works that require prior trim conditions on the helicopter, this paper proposes a hierarchical PD controller that is robust in controlling untrimmed and therefore critically unstable helicopters. This controller can yield asymptotic stability of the helicopter in horizontal motion control, which can be proven by the linear stability analysis. And this controller can flawlessly engage with traditional dual loop autopilot by using auto-varying references in an inner stabilizing loop. Moreover, to facilitate the controller design, this paper derives the dynamics of hingeless helicopters with an emphasis on gyroscopic effect. Finally, the stability and superior performance of the proposed controller are empirically demonstrated on an instrumented JR Voyager GSR helicopter.
Starting Page	3874
Ending Page	3879
File Size	1295870
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354278
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Helicopters Control systems Robots Automatic control Motion control Vehicle dynamics Stability Instruments Aircraft Vehicles
Content Type	Text
Resource Type	Article

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