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Optimization-Based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter

Dauer, Johann C. and Faulwasser, Timm and Lorenz, Sven and Findeisen, Rolf (2013) Optimization-Based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter. AIAA Guidance Navigation and Control Conference, 19.-22. Aug. 2013, Boston, USA.

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Abstract

This paper presents an optimization-based approach to let an unmanned helicopter follow a geometrically defined path. In particular, this approach extends reference model following concepts. Instead of using a model of the vehicle dynamics, the optimization is based on the reference model of the controller. By this means, we can calculate the time- wise progress on the path by means of dynamic optimization without exact knowledge of the real helicopter dynamics. The progression on the path, is defined as a dynamic system subject to an additional virtual control input. The inputs of the reference model and that of the timing law are the decision variables used in the dynamic optimization which is so far performed offline. It will be shown that hereby, an accurate following of the path is possible although the actually identified flight mechanical model is limited to a linear hover model. Furthermore, the approach allows to take constraints on inputs and states into account. Simulation results as well as flight tests conducted with the artis testbed underline that good performance and constraints satisfaction can be achieved.

Document Type:Conference or Workshop Item (Speech)
Title:Optimization-Based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter
Authors:
AuthorsInstitution or Email of Authors
Dauer, Johann C.Johann.Dauer@dlr.de
Faulwasser, TimmUNSPECIFIED
Lorenz, SvenSven.Lorenz@dlr.de
Findeisen, RolfUNSPECIFIED
Date:19 August 2013
Refereed publication:Yes
Status:Published
Keywords:Unmanned Helicopter, Flight Control, Path Following, Adaptive Control
Event Title:AIAA Guidance Navigation and Control Conference
Event Location:Boston, USA
Event Type:international Conference
Event Dates:19.-22. Aug. 2013
Organizer:AIAA
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Johann Dauer
Deposited On:09 Sep 2013 16:26
Last Modified:09 Sep 2013 16:26

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