Nonlinear control of an aerobatic RC airplane

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.