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Waypoint based online trajectory generation and improved following control for the ACT/FHS

Petit, Philippe Joseph and Wartmann, Johannes and Fragniere, Benjamin and Greiser, Steffen (2019) Waypoint based online trajectory generation and improved following control for the ACT/FHS. In: ODAS. ODAS 2019, 3.5.2019-5.5.2019, Paris, Frankreich.

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New research activities on DLRs EC135 ACT/FHS research helicopter has led to new challenges for the automatic flight control software of this testbed. Noise abatement flights, innovative automatic approach trajectories and other topics all require the helicopter to follow a set of waypoints as precisely as possible. This paper presents a new algorithm which is capable of generating curvature-continuous trajectories. A modification of the natural cubic spline algorithm is presented, which allows to incrementally fit cubic splines with defined boundary conditions through subsets of the waypoint list. By joining several of these splines with matching boundary condition, a continuous trajectory is obtained. This approach allows to distribute the computational load of the cubic spline calculation over several execution cycles of the real-time system. Based on these results, a state feedback and a carrot chasing controller are developed and compared in terms of their ability to reduce and stabilize the distance between the trajectory and the helicopter. The approach is verified in DLRs Air Vehicle Simulator (AVES).

Item URL in elib:https://elib.dlr.de/127824/
Document Type:Conference or Workshop Item (Speech)
Title:Waypoint based online trajectory generation and improved following control for the ACT/FHS
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Petit, Philippe JosephPhilippe.Petit (at) dlr.deUNSPECIFIED
Wartmann, JohannesJohannes.Wartmann (at) dlr.dehttps://orcid.org/0000-0002-9766-3454
Fragniere, BenjaminBenjamin.Fragniere (at) dlr.deUNSPECIFIED
Greiser, SteffenSteffen.Greiser (at) dlr.deUNSPECIFIED
Journal or Publication Title:ODAS
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Flight Control, Trajectory generation, cubic splines, ACT/FHS, trajectory control, carrot chasing, cross-track error feedback
Event Title:ODAS 2019
Event Location:Paris, Frankreich
Event Type:international Conference
Event Dates:3.5.2019-5.5.2019
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 > Rotorcraft
Deposited By: Petit, Philippe Joseph
Deposited On:17 Sep 2019 10:22
Last Modified:17 Sep 2019 10:22

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