liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Autonomous Helicopter Control Using Gradient Descent Optimization Method
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group . Linköping University, The Institute of Technology.
Örebro University.
2001 (English)In: Proceedings of the Asian Conference on Robotic & Automation (ACRA), 2001Conference paper (Refereed)
Abstract [en]

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.

National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-60031OAI: oai:DiVA.org:liu-60031DiVA: diva2:354732
Conference
4th Asian Conference on Robotics and its Applications (ACRA 2001), 6-8 June 2001, Singapore
Available from2010-10-04 Created:2010-10-04 Last updated:2015-05-08

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Kadmiry, Bourhane
By organisation
AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group The Institute of Technology
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 27 hits
ReferencesLink to record
Permanent link

Direct link