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
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.