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Evaluation of Time-Shifted Feedforward Control for Unmanned Helicopter Path Tracking

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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lorenz, SvenDLR/ FT-ULUNSPECIFIED
Dauer, Johann, C.DLR/ FT-ULUNSPECIFIED
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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