Autonomous Acrobatic Flight Based on Feedforward Sequence Control for Small Unmanned Helicopter
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.
KeywordsRoll Angle Forward Velocity Axial Roll Pulse Position Modulation Manual Maneuver
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