Sdre Control with Nonlinear Feedforward Compensation for a Small Unmanned Helicopter
نویسندگان
چکیده
COMPENSATION FOR A SMALL UNMANNED HELICOPTER Alexander Bogdanov , Eric Wan OGI School of Science and Engineering, OHSU 20000 NW Walker Rd, Beaverton, Oregon 97006 In this paper we report on the state-dependent Riccati equation (SDRE) control of a small unmanned helicopter for autonomous agile maneuvering. SDRE control requires reformulation of the vehicle dynamics into a pseudo-linear form. For a helicopter application, however, this results in a number of terms not accounted in the SDRE design. To overcome this problem, we employ a nonlinear feedforward compensator that is designed to match the vehicle response to the model used in the SDRE design. This paper provides new control results and additonal details based on work described previously by Bogdanov, et al.1 NOMENCLATURE vehicle velocities in longitudinal, lateral and vertical directions vehicle angular (roll, pitch and yaw) velocities Euler angles (roll, pitch and yaw) vehicle position in inertial frame longitudinal and lateral cyclic controls
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