Paper Info
Title
Optimal Tracking Controller Design for a Small Scale Helicopter
Abstract
A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.
Year
DOI
Venue
2008
10.1016/S1672-6529(07)60041-9
Journal of Bionic Engineering
Keywords
DocType
Volume
small scale helicopter,optimal control,tracking control,rotorcraft-based UAV
Journal
abs/0804.3897
Issue
ISSN
Citations 
4
Journal of Bionic Engineering
17
PageRank 
References 
Authors
2.85
2
2
Name
Order
Citations
PageRank
Agus Budiyono13412.21
Singgih S. Wibowo2172.85