2026-09-19T00:41:29Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/176092022-01-13T07:54:11Zcom_1721.1_7582com_1721.1_7581col_1721.1_131022
Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik.
Gavrilets, Vladislav, 1975-
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
2005-06-02T16:23:06Z
2005-06-02T16:23:06Z
2003
2003
http://hdl.handle.net/1721.1/17609
54091779
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003.
Includes bibliographical references (p. 83-86).
In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature helicopter in a wide range of flight conditions, including aerobatics. The control laws consist of steady-state trim trajectory controllers, used prior to, and upon exit from the maneuvers; and a maneuver execution logic inspired by human pilot strategies. In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles.
by Vladislav Gavrilets.
Ph.D.
86 p.
4121016 bytes
4120824 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by 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.
http://dspace.mit.edu/handle/1721.1/7582
Aeronautics and Astronautics.
Autonomous aerobatic maneuvering of miniature helicopters
Thesis
application/pdf
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="6b7e9bf7-613c-4bc7-a1c5-251d2dd5716e">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>Autonomous aerobatic maneuvering of miniature helicopters</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2003</PublicationDate>
<Authors>
<Author>
<DisplayName>Gavrilets, Vladislav, 1975-</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Aeronautics and Astronautics.</Keyword>
<Abstract>In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature helicopter in a wide range of flight conditions, including aerobatics. The control laws consist of steady-state trim trajectory controllers, used prior to, and upon exit from the maneuvers; and a maneuver execution logic inspired by human pilot strategies. In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>