ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter

In this paper, the ℒ 1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the...

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Bibliographic Details
Published inConference proceedings (International Conference on Unmanned Aircraft Systems. Online) pp. 1081 - 1088
Main Authors Dan Ryals, Andrea, Bertolani, Giulia, Pollini, Lorenzo, Giulietti, Fabrizio
Format Conference Proceeding
LanguageEnglish
Published IEEE 06.06.2023
Subjects
Adaptation models
adaptive control
Atmospheric modeling
Attitude control
baseline augmentation
Couplings
helicopter
Helicopters
Simulation
Uncertainty
unmanned
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Summary:In this paper, the ℒ 1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the collective commands to the helicopter. Both loops are augmented through an ℒ 1 adaptive controller whose low-pass filter bandwidth is tuned considering a simplified helicopter actuation and flapping dynamics model. Simulation results are shown, and the baseline and the augmented controllers are compared.
ISSN:2575-7296
DOI:10.1109/ICUAS57906.2023.10156363