In this paper, the L-1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the collective commands to the helicopter. Both loops are augmented through an L-1 adaptive controller whose low-pass filter bandwidth is tuned considering a simplified helicopter actuation and flapping dynamics model. Simulation results are shown, and the baseline and the augmented controllers are compared.

Dan Ryals, A., Bertolani, G., Pollini, L., Giulietti, F. (2023). ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter. 345 E 47TH ST, NEW YORK, NY 10017 USA : IEEE [10.1109/icuas57906.2023.10156363].

ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter

Bertolani, Giulia
;
Giulietti, Fabrizio
2023

Abstract

In this paper, the L-1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the collective commands to the helicopter. Both loops are augmented through an L-1 adaptive controller whose low-pass filter bandwidth is tuned considering a simplified helicopter actuation and flapping dynamics model. Simulation results are shown, and the baseline and the augmented controllers are compared.
2023
2023 International Conference on Unmanned Aircraft Systems
1081
1088
Dan Ryals, A., Bertolani, G., Pollini, L., Giulietti, F. (2023). ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter. 345 E 47TH ST, NEW YORK, NY 10017 USA : IEEE [10.1109/icuas57906.2023.10156363].
Dan Ryals, Andrea; Bertolani, Giulia; Pollini, Lorenzo; Giulietti, Fabrizio
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/964318
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