Experimental validation of a helicopter autopilot design using model-based PID control. Godbolt, B., Vitzilaios, N. I., & Lynch, A. F. Journal of Intelligent and Robotic Systems: Theory and Applications, 70(1-4):385 – 399, 2013. doi abstract bibtex Autonomous helicopter flight provides a challenging control problem. In order to evaluate control designs, an experimental platform must be developed in order to conduct flight tests. However, the literature describing existing platforms focuses on the hardware details, while little information is given regarding software design and control algorithm implementation. This paper presents the design, implementation, and validation of an experimental helicopter platform with a primary focus on a software framework optimized for controller development. In order to validate the operation of this platform and provide a basis for comparison with more sophisticated nonlinear designs, a PID controller with feedforward gravity compensation is derived using the generally accepted small helicopter model and tested experimentally.
@ARTICLE{Godbolt2013385,
author = {Godbolt, Bryan and Vitzilaios, Nikolaos I. and Lynch, Alan F.},
title = {Experimental validation of a helicopter autopilot design using model-based PID control},
year = {2013},
journal = {Journal of Intelligent and Robotic Systems: Theory and Applications},
volume = {70},
number = {1-4},
pages = {385 – 399},
doi = {10.1007/s10846-012-9720-7},
affiliations = {Applied Nonlinear Controls Laboratory, Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada},
abstract = {Autonomous helicopter flight provides a challenging control problem. In order to evaluate control designs, an experimental platform must be developed in order to conduct flight tests. However, the literature describing existing platforms focuses on the hardware details, while little information is given regarding software design and control algorithm implementation. This paper presents the design, implementation, and validation of an experimental helicopter platform with a primary focus on a software framework optimized for controller development. In order to validate the operation of this platform and provide a basis for comparison with more sophisticated nonlinear designs, a PID controller with feedforward gravity compensation is derived using the generally accepted small helicopter model and tested experimentally.},
author_keywords = {Experimental helicopter platform; Helicopter modeling and control; Helicopter UAV autopilot; Model-based control},
keywords = {Algorithms; Computer programming; Three term control systems; Algorithm implementation; Autonomous helicopters; Autopilot designs; Control design; Control problems; Controller development; Design and control; Experimental platform; Experimental validations; Feed-Forward; Flight test; Gravity compensation; Helicopter model; Helicopter modeling; Helicopter platform; Model-based control; Non-linear design; PID controllers; Software frameworks; Helicopters},
correspondence_address = {N.I. Vitzilaios; Applied Nonlinear Controls Laboratory, Department of Electrical and Computer Engineering, University of Alberta, Edmonton, T6G 2V4, Canada; email: nvitzilaios<at>ualberta.ca},
issn = {15730409},
coden = {JIRSE},
language = {English},
abbrev_source_title = {J Intell Rob Syst Theor Appl},
type = {Article},
publication_stage = {Final},
source = {Scopus}
}
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