The Caltech helicopter control experiment

Zhu, Xiaoyun and van Nieuwstadt, Michiel (1996) The Caltech helicopter control experiment. Technical Report. California Institute of Technology, Pasadena, CA. [CaltechCDSTR:1996.009]

Full text available as:

PDF - Requires Adobe Acrobat Reader or other PDF viewer.

Abstract

This report describes the Caltech helicopter control experiment. The experiment consists of an electric model helicopter interfaced to and controlled by a PC. We describe the hardware and software. A state-space model for the angular position is identified from experimental data near hover, using the prediction error method. An LQR controller with integrators for set point tracking is designed for the system. We also undertake a separate identification and loop shaping control for the yaw dynamics.

EPrint Type:	Monograph (Technical Report)
Additional Information:	Research supported in part by NASA, by NSF Grant CMS-9502224 and AFOSR Grant F49620-95-1-0419.
Uncontrolled Keywords:	model helicopter, identification, real-time control, LQR, loop shaping
Subjects:	All Records
ID Code:	147
Deposited By:	Kristin Buxton
Deposited On:	12 December 2007
Unique Identifier:	CaltechCDSTR:1996.009
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1996.009
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

Archive Staff Only: edit this record