Integrated Modeling, Control, and Guidance for Full-Envelope Flight of Robotic Helicopters

该项目将为机器人直升机的建模、控制和制导开发一个集成框架，使这些飞行器能够充分利用其全部操作能力，在城市和偏远环境中的各种操作中执行快速、精确和可靠的任务。 潜在的应用包括搜索和救援，监视，执法，检查，航空测绘，野生动物观察和电影摄影。综合框架包括三项相互关联的活动：（1）发展了高保真低阶动态模式的建模技术，（2）使用线性鲁棒多变量控制理论，（H_infinity loop shaping）、增益调度和高保真度模型，用于高带宽全飞行包线控制器的设计和仿真，最优前馈方法的应用（模型预测控制）的制导系统的设计，依赖于性能和鲁棒性的封闭-该项目的一个关键方面将是飞行试验验证和改进卡内基梅隆大学的雅马哈R型直升机的框架，50和RMAX直升机。 飞行验证将包括在已知环境中的复杂使命。 使命将包括标准机动的部分（例如，跨栏跳跃、冲刺/急停、协调转弯、障碍滑雪、向后飞行、S形转弯等）。 机器人直升机将以几种不同的方式执行任务（例如攻击性，精确性，燃油经济性等）。根据使命规范。

This project will develop an integrated framework for modeling, control, and guidance of robotic helicopters, which will enable these vehicles to exploit their full operating capabilities to fly fast, precise, and reliable missions in a variety of operations in urban and remote environments. Potential applications include search and rescue, surveillance, law enforcement, inspection, aerial mapping, wildlife observation, and cinematography. The integrated framework consists of three interrelated activities: (1) the development of a modeling technique for high-fidelity low-order dynamics modes, (2) the use of linear robust multiviariable control theory (H_infinity loop shaping), gain scheduling, and high-fidelity models for the design and simulation of high-bandwidth full-flight-envelope controllers, and (3) the use of optimal feedforward methods (model predictive control) for the design of guidance systems that rely on the performance and robustness of the closed-loop helicopter dynamics.A key aspect of the project will be the flight test validation and refinement of the framework on Carnegie Mellon's Yamaha R-50 and RMAX helicopters. Flight validation will include a complex mission in a known environment. The mission will consist segments of standard maneuvers (e.g. hurdle-hop, dash/quick stop, coordinated turn, slalom, rearward flight, S-turn, etc.). The robotic helicopters will fly the missions in several different ways (e.g for aggressiveness, precision, fuel economy, etc.) according to the mission specification.