Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

Skander Taamallah; Xavier Bombois; Paul M.J. Van den Hof

doi:10.1016/j.conengprac.2016.08.009

Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

Skander Taamallah, Xavier Bombois, Paul M.J. Van den Hof

Research output: Contribution to journal › Article › Academic › peer-review

21 Citations (Scopus)

Abstract

The design of a high-performance guidance and control system for a small-scale helicopterUnmanned Aerial Vehicle (UAV), with an engine OFF flight condition (i.e. autorotation), is known to be a challenging task. It is the purpose of this paper to present a Trajectory Planning (TP) and Trajectory Tracking (TT) system, having onlinecomputational tractability. The presented Flight Control System (FCS) is anchored within the aggregated paradigms of differential flatness based optimal planning, and robust control based tracking. In particular the first real-time feasible, model-based TP and model-based TT, for a small-scale helicopter in autorotation is being demonstrated using a high-fidelity, high-order, nonlinear helicopter simulation.

Original language	English
Pages (from-to)	88-106
Number of pages	19
Journal	Control Engineering Practice
Volume	58
DOIs	https://doi.org/10.1016/j.conengprac.2016.08.009
Publication status	Published - 1 Jan 2017

Keywords

Differential flatness
Robust control
Small-scale helicopter autorotation
Unmanned aerial vehicle

Access to Document

10.1016/j.conengprac.2016.08.009

Cite this

@article{73666d6967bf45808c62860bf536a08a,

title = "Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation",

abstract = "The design of a high-performance guidance and control system for a small-scale helicopterUnmanned Aerial Vehicle (UAV), with an engine OFF flight condition (i.e. autorotation), is known to be a challenging task. It is the purpose of this paper to present a Trajectory Planning (TP) and Trajectory Tracking (TT) system, having onlinecomputational tractability. The presented Flight Control System (FCS) is anchored within the aggregated paradigms of differential flatness based optimal planning, and robust control based tracking. In particular the first real-time feasible, model-based TP and model-based TT, for a small-scale helicopter in autorotation is being demonstrated using a high-fidelity, high-order, nonlinear helicopter simulation.",

keywords = "Differential flatness, Robust control, Small-scale helicopter autorotation, Unmanned aerial vehicle",

author = "Skander Taamallah and Xavier Bombois and {Van den Hof}, {Paul M.J.}",

year = "2017",

month = jan,

day = "1",

doi = "10.1016/j.conengprac.2016.08.009",

language = "English",

volume = "58",

pages = "88--106",

journal = "Control Engineering Practice",

issn = "0967-0661",

publisher = "Elsevier",

}

TY - JOUR

T1 - Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

AU - Taamallah, Skander

AU - Bombois, Xavier

AU - Van den Hof, Paul M.J.

PY - 2017/1/1

Y1 - 2017/1/1

N2 - The design of a high-performance guidance and control system for a small-scale helicopterUnmanned Aerial Vehicle (UAV), with an engine OFF flight condition (i.e. autorotation), is known to be a challenging task. It is the purpose of this paper to present a Trajectory Planning (TP) and Trajectory Tracking (TT) system, having onlinecomputational tractability. The presented Flight Control System (FCS) is anchored within the aggregated paradigms of differential flatness based optimal planning, and robust control based tracking. In particular the first real-time feasible, model-based TP and model-based TT, for a small-scale helicopter in autorotation is being demonstrated using a high-fidelity, high-order, nonlinear helicopter simulation.

AB - The design of a high-performance guidance and control system for a small-scale helicopterUnmanned Aerial Vehicle (UAV), with an engine OFF flight condition (i.e. autorotation), is known to be a challenging task. It is the purpose of this paper to present a Trajectory Planning (TP) and Trajectory Tracking (TT) system, having onlinecomputational tractability. The presented Flight Control System (FCS) is anchored within the aggregated paradigms of differential flatness based optimal planning, and robust control based tracking. In particular the first real-time feasible, model-based TP and model-based TT, for a small-scale helicopter in autorotation is being demonstrated using a high-fidelity, high-order, nonlinear helicopter simulation.

KW - Differential flatness

KW - Robust control

KW - Small-scale helicopter autorotation

KW - Unmanned aerial vehicle

UR - http://www.scopus.com/inward/record.url?scp=84992645553&partnerID=8YFLogxK

U2 - 10.1016/j.conengprac.2016.08.009

DO - 10.1016/j.conengprac.2016.08.009

M3 - Article

AN - SCOPUS:84992645553

SN - 0967-0661

VL - 58

SP - 88

EP - 106

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this