Envelope protection for autonomous unmanned aerial vehicles

Ilkay Yavrucuk, J. V.R. Prasad, Suraj Unnikrishnan

Research output: Contribution to journalArticlepeer-review

52 Scopus citations

Abstract

This paper describes the design, development, and testing of an automatic envelope protection system as implemented on Georgia Institute of Technology's unmanned helicopter GTMax. The envelope protection system makes use of online-learning adaptive neural networks to generate online dynamic models, which are used to estimate limits on controller commands. The system provides command capability up to the limit boundaries while preventing envelope exceedance. Simulation and flight-test results are provided for load factor and rotor stall limit protection during aggressive maneuvering.

Original languageEnglish
Pages (from-to)248-261
Number of pages14
JournalJournal of Guidance, Control, and Dynamics
Volume32
Issue number1
DOIs
StatePublished - 2009
Externally publishedYes

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