Terrain following preview controller for model-scale helicopters
نویسندگان
چکیده
This paper presents the design and performance evaluation of a terrain following controller for modelscale helicopters. The methodology used to develop the tracking controller amounts to augmenting the discrete state space model of the plant with terrain preview data. The terrain information is obtained by applying a 2D reconstruction technique to the measurements taken by a forward looking laser range scanner. The resulting control problem is solved using the discrete time Stochastic Linear Quadratic Regulator where the particular structure of the augmented system is explored to simplify the computation of the feedforward gain matrix. Simulation results obtained with the full nonlinear dynamic model of the Vario X-Treme acrobatic helicopter and the preview controller are presented and discussed.
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