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SDRE flight control for X-Cell and R-Max autonomous helicopters

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3 Author(s)
Bogdanov, A. ; OGI Sch. of Sci. & Eng., OHSU, Portland, OR, USA ; Wan, E. ; Harvey, G.

This paper presents a state-dependent Riccati equation (SDRE) flight control approach and its application to autonomous helicopters. For our experiments, we used two different vehicles: an X-Cell-90 small hobby helicopter and a larger vehicle based on the Yamaha R-Max. The control design uses a 6-DOF nonlinear dynamic model that is manipulated into a pseudolinear form where system matrices are given explicitly as a function of the current state. A standard Riccati equation is then solved numerically at each step of a 50 Hz control loop to design the nonlinear state feedback control law online. In addition, a static nonlinear compensator is designed to address issues with the mismatch between the original nonlinear dynamics and its pseudolinear transformation.

Published in:

Decision and Control, 2004. CDC. 43rd IEEE Conference on  (Volume:2 )

Date of Conference:

14-17 Dec. 2004