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Accounting for Performance Limitations Inside the Model Following Control System of an Unmanned Helicopter

Klüßendorf, Fabian and Lorenz, Sven (2011) Accounting for Performance Limitations Inside the Model Following Control System of an Unmanned Helicopter. American Institute of Aeronautics and Astronautics, Inc.. AIAA Guidance, Navigation, and Control Conference, 08.-11. Aug. 2011, Portland, Oregon.

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Abstract

In order to prevent generating reference signals that cannot be followed by an unmanned helicopter, a method which considers thrust limitations inside a reference model control scheme was developed and is presented in this paper. Contrary to methods that consider only small accelerations around hover flight, the proposed method is designed to permit highly agile maneuvers. The focus of the paper is on the description and the explanation of the proposed limiting method. Each component of the method is thus detailed and justied. The achieved results, benets and constraints of this method are discussed and simulation test scenarios were specically designed to throw the behaviors resulting from the proposed method into relief. It is shown that limitation of the command values inside the reference model in an open-loop control architecture is possible and leads to very small errors on the real plant compared to other approaches even though this approach is signicantly less conservative. Flight tests were carried out on DLR's unmanned helicopter ARTIS. They illustrate the applicability of the proposed method and conrm its potential for helicopter envelope protection enhancement when using a reference model based control architecture.

Item URL in elib:https://elib.dlr.de/70722/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Accounting for Performance Limitations Inside the Model Following Control System of an Unmanned Helicopter
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klüßendorf, FabianFabian.Kluessendorf (at) dlr.deUNSPECIFIED
Lorenz, SvenSven.Lorenz (at) dlr.deUNSPECIFIED
Date:8 August 2011
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:American Institute of Aeronautics and Astronautics, Inc.
Status:Published
Keywords:envelope protection, model reference adaptive control, unmanned helicopter, acceleration limiting
Event Title:AIAA Guidance, Navigation, and Control Conference
Event Location:Portland, Oregon
Event Type:international Conference
Event Dates:08.-11. Aug. 2011
Organizer:American Institute of Aeronautics and Astronautics
HGF - Research field:Aeronautics, Space and Transport
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: Klüßendorf, Fabian
Deposited On:23 Aug 2011 15:23
Last Modified:23 Aug 2011 15:23

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