Nonlinear control of an aerobatic RC airplane
Name
668107837-MIT.pdf
Description
Full printable version
Size
4.84 MB
Format
Adobe PDF
Checksum (MD5)
0a59f8ac244aaeb3a2574b0716752b58
Author(s)
Bialkowski, Joshua John
Advisor(s)
Emilio Frazzoli.
Alternative Title
Nonlinear control of an aerobatic remote control airplane
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
An automatic flight controller based on the ideas of backstepping is applied to an aerobatic RC airplane. The controller asymptotically tracks a time-parameterized position reference, and depends on an orientation look-up rule to determine the vehicle orientation from a desired acceleration. A coordinated-flight look-up rule compatible with the controller provides a nominal level of capability for traditional flight trajectories. A generalized coordinated look-up rule compatible with the controller provides more advanced capability, including stability for high angle of attack and hovering maneuvers, at the expense of an additional requirement from the reference trajectory. Basic simulation results are used to verify the controller, and a simulation software framework is described which will enable more extensive simulation and provide a platform for the final controller implementation.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 93-94).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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