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Optimal Tracking Controller Design for a Small Scale Helicopter

✍ Scribed by Agus Budiyono; Singgih S. Wibowo

Publisher
SciencePress (China)
Year
2007
Tongue
English
Weight
493 KB
Volume
4
Category
Article
ISSN
1672-6529

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✦ Synopsis

A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed.

The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

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