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arXiv · 1703.08800

Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach

Nidhish Raj·Ravi N. Banavar·Abhishek·Mangal Kothari
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Abstract

We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling between rotor and fuselage, the complete system does not inherit the structure of a simple mechanical system. The coupled rotor fuselage dynamics is first transformed to rigid body attitude tracking problem with a first order actuator dynamics. The proposed controller is developed using geometric and backstepping control technique. The controller is globally defined on $SO(3)$ and is shown to be locally exponentially stable. The controller is validated in simulation and experiment for a 10 kg class small scale flybarless helicopter by demonstrating aggressive roll attitude tracking.

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Nidhish Raj, Ravi N. Banavar, Abhishek, Mangal Kothari. 2017-03-26. Attitude Tracking Control for Aerobatic Helicopters: A Geometric Approach. https://arxiv.org/abs/1703.08800

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