Full text
| |
| Author(s): |
Darby Freitas de Albuquerque Lopes
Total Authors: 1
|
| Document type: | Master's Dissertation |
| Press: | São Carlos. |
| Institution: | Universidade de São Paulo (USP). Escola de Engenharia de São Carlos (EESC/SBD) |
| Defense date: | 2010-12-10 |
| Examining board members: |
Marco Henrique Terra;
Adriano Almeida Gonçalves Siqueira;
Denis Fernando Wolf
|
| Advisor: | Marco Henrique Terra |
| Abstract | |
This work concerns the study of an inertial reference system and a control system for an autonomous helicopter using, as basis for the formulation and testing, the linearized mo del of the aircraft Yamaha R-MAX. An inertial navigation system (INS) and an attitude and orientation reference system (AHRS) are used to estimate the position and attitude of the aircraft and robust estimators based on Kalman filter are employed to minimize the effects of parametric uncertainties. A cascaded control architecture with three control methodologies is used, consisting of an inner-loop to ensure stability of the helicopter (the LQR and H \'INFINITE\' techniques are used, separately), a mid-loop based on linearization feedback (FLC) to decouple the dynamics ofthe lateral, longitudinal, vertical and heading axes and an outer-loop based on a proportional-derivative (PD) controller to enable trajectory tracking. Simulation results are presented to evaluate the performance of each approach. (AU) | |
| FAPESP's process: | 07/06224-7 - Attitude and position estimation and robust control of a helicopter UAV |
| Grantee: | Darby Freitas de Albuquerque Lopes |
| Support Opportunities: | Scholarships in Brazil - Master |