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dc.contributor.authorTerblanche, Martin C.
dc.contributor.authorUren, Kenneth R.
dc.contributor.authorVan Schoor, George
dc.date.accessioned2016-04-07T07:53:51Z
dc.date.available2016-04-07T07:53:51Z
dc.date.issued2014
dc.identifier.citationTerblanche, M.C. et al. 2014. Flight controller and low-cost test environment for a simulated helicopter. IFAC 2014. Proceedings of the 19th World Congress: 7266-7271. [https://doi.org/10.3182/20140824-6-ZA-1003.02194]en_US
dc.identifier.issn1474-6670
dc.identifier.urihttp://hdl.handle.net/10394/16873
dc.identifier.urihttps://www.sciencedirect.com/science/article/pii/S1474667016427576
dc.identifier.urihttps://doi.org/10.3182/20140824-6-ZA-1003.02194
dc.description.abstractIn this paper, optimal linear control techniques are utilised to control a radio-controlled helicopter (30 size) in the AeroSIMRC simulation environment. A grey-box time-domain system identification method is used to estimate a linear state space model that operates in hover mode. Identifying the unknown parameters in the model is highly dependent on the initial values and the input data. The model is divided into sub-systems to make estimation possible. The identified state space model shows a good measure of fit compared to the simulator’s flight data. A linear quadratic controller forms the inner-loop, and an optimised PID outer-loop generates attitude commands from a given inertial position trajectory. An observer estimates the unmeasured states such as blade flapping. The controller is developed in Simulink® with a plug-in written for the AeroSIMRC flight simulator. The plug-in enables Simulink® to control the simulator through a User Datagram Protocol interface for the purpose of model and controller validation. The proposed methodology facilitates a low cost test environment for new flight control algorithms. The simulation results show that the controller keeps the helicopter stable in the presence of considerable environmental disturbances and plant uncertaintiesen_US
dc.description.sponsorshipNational Research Foundation of South Africa (UID: 80020)en_US
dc.language.isoenen_US
dc.publisherIFACen_US
dc.subjectSystem identificationen_US
dc.subjectlinear optimal controlen_US
dc.subjectLQR control methoden_US
dc.titleFlight controller and low-cost test environment for a simulated helicopteren_US
dc.typePresentationen_US
dc.contributor.researchID12064203 - Uren, Kenneth Richard
dc.contributor.researchID12134457 - Van Schoor, George


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