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Lorenz, Sven and Dauer, Johann, C. (2012) Evaluation of Time-Shifted Feedforward Control for Unmanned Helicopter Path Tracking. AIAA Guidance, Navigation, and Control Conference, 13 - 16 August 2012, Minneapolis, Minnesota.
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Abstract
A novel approach to improve the path tracking performance based on time shifted feed-forward signals is presented. It uses approximately linear closed-loop dynamics through feedback linearization of the ARTIS unmanned helicopter. The flight controller is currently in use to track nonlinear trajectories represented by piece-wise cubic splines. Feedforward signals shifted in time with varying and constant time-shifts are evaluated to improve the suboptimal tracking behavior. The problem is illustrated for a representative path and the process of determining the time shift is discussed. Having runtime performance advantages, the constant variant of time-shifted feedforward signals is chosen for onboard implementation. To validate the approach, it is implemented onboard our flying rotorcraft test bed and flight test results showing the improved tracking performance are presented.
| Item URL in elib: | https://elib.dlr.de/77134/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||
| Title: | Evaluation of Time-Shifted Feedforward Control for Unmanned Helicopter Path Tracking | |||||||||
| Authors: |
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| Date: | August 2012 | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Keywords: | path tracking; control design; cubic splines; nonlinear trajectories; time shift ; feedforward control | |||||||||
| Event Title: | AIAA Guidance, Navigation, and Control Conference | |||||||||
| Event Location: | Minneapolis, Minnesota | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 13 - 16 August 2012 | |||||||||
| 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: | Lorenz, Dr. Sven | |||||||||
| Deposited On: | 13 Feb 2013 14:59 | |||||||||
| Last Modified: | 13 Feb 2013 14:59 |
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