Paper Info
Title
Improved Stability Using Environmental Adaptive Yaw Control For Autonomous Unmanned Helicopter And Bifurcation Of Maneuvering In Turning
Abstract
Adaptation to environmental changes, such as wind, plays a very important role in improving the reliability of autonomous unmanned helicopters. Adaptive yaw (heading) control for an autonomous helicopter is discussed in this paper. The control structure is based on a hierarchal scheme that utilizes an inner yaw feedback control loop plus an outer feedback loop. The outer loop estimates the direction of the airspeed using roll angle and roll angular rate. Stable coupling in yaw and roll motion is induced by the proposed controller to improve the stability of the helicopter's flight. Turning utilizing the proposed adaptive control system is discussed in particular. Results of flight experiments show that bifurcation of the helicopter's maneuvering in turning occurs depending on airspeed. The results indicate that the autonomous unmanned helicopter can select a turning maneuver that is suitable for the environmental conditions, thus stabilizing its flight.
Year
DOI
Venue
2011
10.20965/jrm.2011.p1091
JOURNAL OF ROBOTICS AND MECHATRONICS
Keywords
Field
DocType
unmanned helicopter, autonomous flight control, adaptive yaw control, bifurcation of turning maneuver
Control theory,Computer science,Aerospace engineering,Bifurcation
Journal
Volume
Issue
ISSN
23
6
0915-3942
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Nakanishi, H.134.15
Sayaka Kanata262.50
Tetsuo Sawaragi312134.49