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Title: Development of an autonomous control system for a small fixed pitch helicopter
Authors: McAree, Owen
Clarke, Jonathan H.A.
Chen, Wen-Hua
Keywords: Helicopter
Autopilot
Flight test
Gain scheduling
Tracking
Issue Date: 2010
Publisher: © IEEE
Citation: MCAREE, O., CLARKE, J. and CHEN, W.-H., 2010. Development of an autonomous control system for a small fixed pitch helicopter. IN: 2nd International Conference on Advanced Computer Control (ICACC), Shenyang, 27-29 March, pp. 13 - 17
Abstract: The indoor test bed of the Autonomous Systems Laboratory has been used to create a control system for a small fixed pitch helicopter. This paper outlines the challenges posed by such a vehicle and the control system designed to overcome them. The control system utilized a visual tracking system to obtain state information without onboard hardware. Matlab/Simulink environment was used to facilitate rapid prototyping control development. An autopilot consisting of multi-channel PID controllers was implemented for flight tests. Failsafe strategies and gain scheduling were both investigated and implemented with the use of a graphical user interface. A number of flight tests were conducted and the results are provided. The future work of the laboratory is also covered.
Description: This is a conference paper [©IEEE]. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Version: Published
DOI: 10.1109/ICACC.2010.5486728
URI: https://dspace.lboro.ac.uk/2134/7344
Publisher Link: http://dx.doi.org/10.1109/ICACC.2010.5486728
ISBN: 9781424458455
Appears in Collections:Conference Papers and Contributions (Aeronautical and Automotive Engineering)

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