A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
The Implementation of an Autonomous Helicopter Testbed
Journal of Intelligent and Robotic Systems
Aided Navigation: GPS with High Rate Sensors
Aided Navigation: GPS with High Rate Sensors
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Control-Oriented Physical Input Modelling for a Helicopter UAV
Journal of Intelligent and Robotic Systems
Real-Time Implementation of Decoupled Controllers for Multirotor Aircrafts
Journal of Intelligent and Robotic Systems
Model-Based Helicopter UAV Control: Experimental Results
Journal of Intelligent and Robotic Systems
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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.