Autonomous air vehicles have numerous applications, all of which require the vehicle to have stable and accurate control of its motion. In this paper, a hierarchical control system for small autonomous helicopters is described. The control system consists of four components: a navigation filter, an inner-loop hover control system, a waypoint guidance system, and a ground-based flight manager. All four elements of the control system have been verified with flight tests of the Draper Small Autonomous Air Vehicle.
|Number of pages
|Proceedings of the IEEE Conference on Decision and Control
|Published - Dec 1 1998