Autonomous takeoff and landing control for a prototype unmanned helicopter

作者：Shouzhao Sheng^*; Mian Ashfaq Ahmad; Chao Zhao; Bin Jiang

来源：Control Engineering Practice, 2010, 18(9): 1053-1059.

DOI：10.1016/j.conengprac.2010.05.009

• Unmanned helicopter
• Autonomous takeoff and landing
• Attitude control
• Anti-drifting control
• Ground collision avoidance

In this paper, an autonomous takeoff and landing control strategy is designed and implemented for a prototype coaxial unmanned helicopter with ducted fan configuration. The control strategy is designed such that longitudinal and lateral controls use ground forces, attitude and drifting feedbacks. Vertical control employs takeoff and landing decision and vertical velocity control is based on altitude tracking. Ground forces feedback is used to balance longitudinal forces and moments during liftoff effectively cancelling all ground forces. Attitude and drifting feedbacks are used to balance the longitudinal and lateral movements of the helicopter during takeoff and landing. The flight control strategy is successfully verified during flight tests.

• 出版日期2010-9
• 单位南京航空航天大学