Design and Flight Testing of an H00 Controller for a Robotic Helicopter
Design and Flight Testing of an H00 Controller for a Robotic Helicopter
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DOI：
10.2514/1.15796
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发表时间：
2006-03
影响因子：
2.6
通讯作者：
M. L. Civita;G. Papageorgiou;W. Messner;T. Kanade
中科院分区：
文献类型：
--
作者：
M. L. Civita;G. Papageorgiou;W. Messner;T. Kanade
尽管机器人直升机越来越受到大学、工业和军事研究团体的关注，但它们在自主作战中的飞行范围仍然极其有限。高保真仿真模型的缺乏阻碍了使用成熟的多变量控制技术来设计高带宽控制系统。现有的控制器带宽很低，只覆盖飞行器飞行包线的一小部分。给出了高保真集成建模策略和鲁棒多变量控制技术协同应用于机器人直升机高带宽控制器快速可靠设计的结果。该项目在卡内基梅隆大学的雅马哈R-50机器人直升机上实施了H∞回路成形控制器并进行了飞行测试。在飞行测试中，CMU R-50进行了中速协调动作，其跟踪性能超过了公开可用文献中报告的性能。作者认为，这些结果为在机器人直升机上实施复杂自主任务的全飞行包络控制系统开辟了道路。
Although robotic helicopters have received increasing interest from university, industry, and military research groups, their flight envelope in autonomous operations remains extremely limited. The absence of high-fidelity simulation models has prevented the use of well-established multivariable control techniques for the design of high-bandwidth control systems. Existing controllers are of low bandwidth and cover only small portions of the vehicle's flight envelope. The results of the synergic use of high-fidelity integrated modeling strategies and robust multivariable control techniques for the rapid and reliable design of a high-bandwidth controller for robotic helicopters are presented. The project implemented and flight tested an H ∞ loop shaping controller on the Carnegie Mellon University (CMU) Yamaha R-50 robotic helicopter. During the flight tests, the CMU R-50 flew moderate-speed coordinated maneuvers with a level of tracking performance that exceeds performance reported in the publicly available literature. The authors believe that the results open the road to the implementation on robotic helicopters of full-flight-envelope control systems for complex autonomous missions.