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Autonomous Guidance of Agile Small-scale RotorcraftThis report describes a guidance system for agile vehicles based on a hybrid closed-loop model of the vehicle dynamics. The hybrid model represents the vehicle dynamics through a combination of linear-time-invariant control modes and pre-programmed, finite-duration maneuvers. This particular hybrid structure can be realized through a control system that combines trim controllers and a maneuvering control logic. The former enable precise trajectory tracking, and the latter enables trajectories at the edge of the vehicle capabilities. The closed-loop model is much simpler than the full vehicle equations of motion, yet it can capture a broad range of dynamic behaviors. It also supports a consistent link between the physical layer and the decision-making layer. The trajectory generation was formulated as an optimization problem using mixed-integer-linear-programming. The optimization is solved in a receding horizon fashion. Several techniques to improve the computational tractability were investigate. Simulation experiments using NASA Ames 'R-50 model show that this approach fully exploits the vehicle's agility.
Document ID
20040074452
Acquisition Source
Goddard Space Flight Center
Document Type
Contractor or Grantee Report
Authors
Mettler, Bernard (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Feron, Eric (Massachusetts Inst. of Tech. Cambridge, MA, United States)
Date Acquired
September 7, 2013
Publication Date
June 4, 2004
Subject Category
Aircraft Stability And Control
Funding Number(s)
CONTRACT_GRANT: NAG2-1552
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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