In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute a completely automatic aerobatic maneuver. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modeling errors. This approach can be extended to a variety of maneuvers. © 2002 by the author(s). Published by the American Institute of Aeronautics and Astronautics, Inc.
|Original language||English (US)|
|Title of host publication||AIAA Guidance, Navigation, and Control Conference and Exhibit|
|Publisher||American Institute of Aeronautics and Astronautics Inc.firstname.lastname@example.org|
|State||Published - Jan 1 2002|