0
Research Papers

Trajectory Control of Miniature Helicopters Using a Unified Nonlinear Optimal Control Technique

[+] Author and Article Information
Ming Xin1

Department of Aerospace Engineering,  Mississippi State University, Starkville, MS 39759xin@ae.msstate.edu

Yunjun Xu

Department of Mechanical, Materials, and Aerospace Engineering,  University of Central Florida, Orlando, FL 32816

Ricky Hopkins

 Nordam Transparency Division, Tulsa, OK 74117

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(6), 061001 (Sep 06, 2011) (14 pages) doi:10.1115/1.4004060 History: Received December 28, 2009; Revised March 05, 2011; Published September 06, 2011; Online September 06, 2011

It is always a challenge to design a real-time optimal full flight envelope controller for a miniature helicopter due to the nonlinear, underactuated, uncertain, and highly coupled nature of its dynamics. This paper integrates the control of translational, rotational, and flapping motions of a simulated miniature aerobatic helicopter in one unified optimal control framework. In particular, a recently developed real-time nonlinear optimal control method, called the θ-D technique, is employed to solve the resultant challenging problem considering the full nonlinear dynamics without gain scheduling techniques and timescale separations. The uniqueness of the θ-D method is its ability to obtain an approximate analytical solution to the Hamilton–Jacobi–Bellman equation, which leads to a closed-form suboptimal control law. As a result, it can provide a great advantage in real-time implementation without a high computational load. Two complex trajectory tracking scenarios are used to evaluate the control capabilities of the proposed method in full flight envelope. Realistic uncertainties in modeling parameters and the wind gust condition are included in the simulation for the purpose of demonstrating the robustness of the proposed control law.

Copyright © 2011 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Illustration of the miniature helicopter with the axis system and forces

Grahic Jump Location
Figure 2

Scenario I: three-dimensional view of the trajectory

Grahic Jump Location
Figure 3

Scenario I: time histories of the position tracking

Grahic Jump Location
Figure 4

Scenario I: Euler angle responses

Grahic Jump Location
Figure 5

Scenario I: angular velocity response

Grahic Jump Location
Figure 6

Scenario I: translational velocity responses

Grahic Jump Location
Figure 7

Scenario I: flapping angle responses

Grahic Jump Location
Figure 8

Scenario I: control deflections

Grahic Jump Location
Figure 9

Scenario I: main rotor thrust

Grahic Jump Location
Figure 10

Scenario II: 3-dimensional view of the trajectory

Grahic Jump Location
Figure 11

Scenario II: time histories of the position tracking

Grahic Jump Location
Figure 12

Scenario II: Euler angle responses

Grahic Jump Location
Figure 13

Scenario II: angular velocity responses

Grahic Jump Location
Figure 14

Scenario II: translational velocity responses

Grahic Jump Location
Figure 15

Scenario II: flapping angle responses

Grahic Jump Location
Figure 16

Scenario II: control deflections

Grahic Jump Location
Figure 17

Scenario II: main rotor thrust

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In