Development of an autonomous control system for a small fixed pitch helicopter
conference contributionposted on 2010-11-24, 17:25 authored by Owen McAree, Jonathan H.A. Clarke, Wen-Hua ChenWen-Hua Chen
The indoor test bed of the Autonomous Systems Laboratory has been used to create a control system for a small fixed pitch helicopter. This paper outlines the challenges posed by such a vehicle and the control system designed to overcome them. The control system utilized a visual tracking system to obtain state information without onboard hardware. Matlab/Simulink environment was used to facilitate rapid prototyping control development. An autopilot consisting of multi-channel PID controllers was implemented for flight tests. Failsafe strategies and gain scheduling were both investigated and implemented with the use of a graphical user interface. A number of flight tests were conducted and the results are provided. The future work of the laboratory is also covered.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering