Application of software enabled control technologies to a full-scale unmanned helicopter

Graham Drozeski, Ilkay Yavrucuk, Eric Johnson, J. V.R. Prasad, Daniel Schrage, George Vachtsevanos

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

Abstract

This paper presents a control architecture designed to accommodate a selection of modern control algorithms on a full-scale rotary-wing, unmanned aerial vehicle. The architecture integrates a visual landing system, two path planners, a flight envelope protection algorithm, and two low-level flight controllers that were developed independently by six agencies in academia and industry. A newly developed vehicle model and an exportable simulation environment were assembled in an open control infrastructure to expedite the algorithm development The collaboration resulted in successful flight testing of the architecture and multiple control algorithms on Boeing's Renegade Unmanned Aerial Vehicle, a derivative of the Robinson R22. The aircraft successfully switched from a conventional flight controller to an adaptive neural network flight controller on four occasions making it the largest helicopter to operate under adaptive neural network Eight control.

OriginalspracheEnglisch
TitelCollection of Technical Papers - AIAA Atmospheric Flight Mechanics Conference 2005
Seiten1271-1277
Seitenumfang7
PublikationsstatusVeröffentlicht - 2005
Extern publiziertJa
VeranstaltungAIAA Atmospheric Flight Mechanics Conference 2005 - San Francisco, CA, USA/Vereinigte Staaten
Dauer: 15 Aug. 200518 Aug. 2005

Publikationsreihe

NameCollection of Technical Papers - AIAA Atmospheric Flight Mechanics Conference
Band2

Konferenz

KonferenzAIAA Atmospheric Flight Mechanics Conference 2005
Land/GebietUSA/Vereinigte Staaten
OrtSan Francisco, CA
Zeitraum15/08/0518/08/05

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