国外无人机文献篇未翻译.pdfVIP

2013InternationalConferenceonUnmannedAircraftSystems(ICUAS)

May28-31,2013,GrandHyattAtlanta,Atlanta,GA

ExperimentalValidationofaHelicopterAutopilot:

Time-VaryingTrajectoryTracking

BryanGodbolt,NikolaosVitzilaios,ChrisBergenandAlanF.Lynch

—ResearchinhelicopterUAVcontrolisinher-therotorthrust.Conversely,quadrotoractuationis

entlybasedontestingflightperformanceinthefield.Thislimitedbyhowfastitsrotorvelocitycanbevaried.

paperextendspreliminaryflighttestresultspreviouslyThevariablepitchofthehelicopter’smainrotor

publishedbytheauthorsandprovidesamorethor-introducesanonlinearinputcouplingnotpresent

oughexperimentalvalidationofthehelicopter’smotion

control.Anewinputmodel,whichincludesvelocityinquadrotors.Thisinputcouplingcreateschal-

dependenceinthemainrotorthrust,isincorporatedinlengesforcontroldesign.Itisstandardpractice

thecontrol.Experimentalresultsfortranslationalposi-intheliteraturetoignorethiscoupling[2],[3],

tioncontrolarepresentedusinganumberofreference[4],[5].Ourapproachistoassumetheeffectof

trajectories.thiscoupling,whichissometimesreferredtoas

thesmallbodyforce,isconstantandthereforecan

I.INTRODUCTION

compensatedusingintegrator-actioninthecontrol.

Helicoptershaveuniqueflightcapabilitiesin-Workin[6]pr