Autonomous Acrobatic Flight Based on Feedforward Sequence Control for Small Unmanned Helicopter

  • Kenzo Nonami
  • Farid Kendoul
  • Satoshi Suzuki
  • Wei Wang
  • Daisuke Nakazawa


In this chapter, we describe the simple logic for the execution of an autonomous axial roll of a small unmanned helicopter using a feedforward sequence control method. To develop the feedforward input sequence, we study the maneuver logic and strategies developed by expert human pilots to execute acrobatic maneuvers. We first explain the hardware structure of our SF 40 helicopter and the avionics system used to overcome hardware limitations for executing aggressive maneuvers and then explain the simple feedforward control logic based on recorded pilot control command sequences. This approach may be useful in executing smooth high-speed maneuvers that are less time consuming as it does not require complicated nonlinear control methods.


Roll Angle Forward Velocity Axial Roll Pulse Position Modulation Manual Maneuver 
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    Hazawa K, Shin J, Fujiwara D, Dilshan F, Igarashi K, Nonami K (2003) Autonomous flight control of unmanned small hobby-class helicopter. J Robot Mechatron 15(5):546–554Google Scholar

Copyright information

© Springer 2010

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Farid Kendoul
    • 2
  • Satoshi Suzuki
    • 3
  • Wei Wang
    • 4
  • Daisuke Nakazawa
    • 5
  1. 1.Faculty of EngineeringChiba UniversityChibaJapan
  2. 2.CSIRO Queensland Centre for Advanced TechnologiesAutonomous Systems LaboratoryPullenvaleAustralia
  3. 3.International Young Researchers Empowerment CenterShinshu UniversityUedaJapan
  4. 4.College of Information and Control EngineeringNanjing University of Information Science & TechnologyNanjingP.R. China
  5. 5.Advanced Technology R&D CenterMitsubishi Electric CorporationAmagasakiJapan

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