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Erschienen in:
2010 | OriginalPaper | Buchkapitel
Autonomous Autorotation of Unmanned Rotorcraft using Nonlinear Model Predictive Control
verfasst von : Konstantinos Dalamagkidis, Kimon P. Valavanis, Les A. Piegl
Erschienen in: Selected papers from the 2nd International Symposium on UAVs, Reno, Nevada, U.S.A. June 8–10, 2009
Verlag: Springer Netherlands
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Safe operations of unmanned rotorcraft hinge on successfully accommodating failures during flight, either via control reconfiguration or by terminating flight early in a controlled manner. This paper focuses on autorotation, a common maneuver used to bring helicopters safely to the ground even in the case of loss of power to the main rotor. A novel nonlinear model predictive controller augmented with a recurrent neural network is presented that is capable of performing an autonomous autorotation. Main advantages of the proposed approach are on-line, real-time trajectory optimization and reduced hardware requirements.