Improved Stability Using Environmental Adaptive Yaw Control for Autonomous Unmanned Helicopter and Bifurcation of Maneuvering in Turning
Hiroaki Nakanishi*, Sayaka Kanata**, and Tetsuo Sawaragi*
*Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Yoshidahonmachi, Sakyo-ku, Kyoto 606-8501, Japan
**Department of Aerospace Engineering, Graduate School of Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka 599-8531, Japan
Adaptation to environmental changes, such as wind, plays a very important role in improving the reliability of autonomous unmanned helicopters. Adaptive yaw (heading) control for an autonomous helicopter is discussed in this paper. The control structure is based on a hierarchal scheme that utilizes an inner yaw feedback control loop plus an outer feedback loop. The outer loop estimates the direction of the airspeed using roll angle and roll angular rate. Stable coupling in yaw and roll motion is induced by the proposed controller to improve the stability of the helicopter’s flight. Turning utilizing the proposed adaptive control system is discussed in particular. Results of flight experiments show that bifurcation of the helicopter’smaneuvering in turning occurs depending on airspeed. The results indicate that the autonomous unmanned helicopter can select a turning maneuver that is suitable for the environmental conditions, thus stabilizing its flight.
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