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- W2170871703 abstract "Controlling rotary wing platforms, especially on helicopters, is a difficult task because of the nonlinearity of the structure and strong coupled motion dynamics. In this paper, a linear, quadratic regulator method is used to control the trajectory and mission paths of the autonomous helicopter. Nonlinear motion dynamics is linearized at certain operating points and linear model is obtained by Taylor's series expansion. This model is integrated into MATLAB® program. By using LQR (Linear Quadratic Regulator) methodology, the attitude of 1 the autonomous Puma helicopter is controlled and two simulations are realized. The results show that this approach can effectively be applied to control rotary wing platforms on helicopters. Cyclic controller enables pilots to change the angle of attack so longitudinal and lateral motion can be performed. By tail pedals the angle of attack of the tail rotor is changed so yaw motion is performed. Any small mistake can cause collapse of the platform. In this paper, owing to the optimal control methods, the controller gains will be hold at the optimum values. These inputs will be defined in this study as" @default.
- W2170871703 created "2016-06-24" @default.
- W2170871703 creator A5013330739 @default.
- W2170871703 date "2009-01-01" @default.
- W2170871703 modified "2023-09-27" @default.
- W2170871703 title "LQR-Based Trajectory Control Of Full Envelope, Autonomous Helicopter" @default.
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