Agus Budiyono

Optimal tracking controller design for a small scale helicopter

A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

Switched Linear Control of a Model Helicopter

A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach

Intelligent Unmanned Systems: Theory and Applications

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