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Advanced Attitude Command Generation for a Helicopter UAV in the Context of a Feedback Free Reference System

Dauer, Johann and Lorenz, Sven and Dittrich, Joerg (2011) Advanced Attitude Command Generation for a Helicopter UAV in the Context of a Feedback Free Reference System. International Specialists’ Meeting on Unmanned Rotorcraft and Network Centric Operations, 25.-27. Jan. 2011, Tempe, AZ, USA.

Full text not available from this repository.

Abstract

For flight control of helicopter UAV a reference model based adaptive approach is often used. In order to cope with having four control inputs to manipulate six degrees of freedom of the UAV’s rigid body, translational and rotational motion can be decoupled. This paper addresses a problem arising from this approach: the rotation control loop has to cope with two different, often contradicting, demands. The first ensures the thrust to be correctly oriented for the desired flight path. The second arises from the mission demanding a certain heading, e. g. for observation during continuous flight. A quaternion based approach is presented based on geometric relations. Two types of heading requirements are considered, one for a vector based line-of-vision (e. g. for object observation) and a heading represented by a yaw angle (e. g. for cruise flight). In order to verify the proposed algorithm a hardware-in-the-loop simulation is used. The so called elliptic turn maneuver is a challenging example for which the direction of view is commanded from the flight path independently and is thus selected for verification.

Item URL in elib:https://elib.dlr.de/68965/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Advanced Attitude Command Generation for a Helicopter UAV in the Context of a Feedback Free Reference System
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dauer, JohannFT-ULUNSPECIFIED
Lorenz, SvenFT-ULUNSPECIFIED
Dittrich, JoergFT-ULUNSPECIFIED
Date:January 2011
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:UAV, UAS, Attitude, MRAC, Model Reference Control
Event Title:International Specialists’ Meeting on Unmanned Rotorcraft and Network Centric Operations
Event Location:Tempe, AZ, USA
Event Type:international Conference
Event Dates:25.-27. Jan. 2011
Organizer:American Helicopter Society
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Dauer, Johann
Deposited On:14 Feb 2011 16:19
Last Modified:14 Feb 2011 16:19

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