Autonomous Helicopter Control Using Gradient Descent Optimization Method
2001 (English)In: Proceedings of the Asian Conference on Robotic & Automation (ACRA), 2001Conference paper (Refereed)
The work reported in this paper is aimed at designing a velocityyaltitude and position controllers for the unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The controllers are able of regulating high velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: rst, a gradient descent optimization method i s u s e d t o c ompute for each desired horizontal velocityyaltitude or position the corresponding desired values for the attitude angles and the main rotor col-lective pitch; second, a linear control scheme is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocity at the desired altitude, or its desired position. The performance of the controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose.
Place, publisher, year, edition, pages
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-60031OAI: oai:DiVA.org:liu-60031DiVA: diva2:354732
4th Asian Conference on Robotics and its Applications (ACRA 2001), 6-8 June 2001, Singapore