Optimal Tracking Controller Design for a Small Scale Helicopter

作     者：Agus Budiyono Singgih S. Wibowo 

作者机构：Department of Aeronautics and Astronautics Institut Teknologi Bandung Bandung 40132 Indonesia Simundo Simulation Technology Company Bandung 40134 Indonesia 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2007年第4卷第4期

页      面：271-280页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：small scale helicopter optimal control tracking control rotorcraft-based UAV 

摘      要：A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.