3940 Autonomous Aggressive Flight Control Development for a Small Unmanned Helicopter
Dilshan Fernando, Yoshiro KOIDE, Jinok Shin, Daigo FUJIWARA, Kazuhiro Igarashi, Kenzo NONAMI · The proceedings of the JSME annual meeting · 2005
Even though in our recent research we have developed autonomous hovering control, trajectory tracking control etc. successfully, the movements of the helicopter had to be limited only for slow maneuvers. So in this research we develop a method to achieve aggressive autonomous flights for our helicopter. We achieve high speed forward velocity control with a high acceleration by switching between velocity feed back control and feed forward attitude reference based attitude control. Then the 360 degree roll maneuver, using a complete feed forward sequence control method learned from the acrobatic flight test data of expert pilots. Finally we achieved a complete 360 degree roll maneuver starting form hover to the end of the maneuver autonomously by combining the above two methods.