Publication Date
2009
Document Type
Thesis
Committee Members
Lang Hong (Committee Chair), Kefu Xue (Committee Member), Xiaodong Zhang (Committee Member)
Degree Name
Master of Science in Engineering (MSEgr)
Abstract
The development of an autopilot system for an RC helicopter presents interesting challengesfrom both a hardware and controls standpoint. The system detailed in this thesis utilizes a 13 state Extended Kalman Filter (EKF) to fuse sensor data and provide a position/velocity/attitude estimate. A novel, state of the art hybrid PID/LQR controller is developed and compared with a full state Linear Quadratic Regulator (LQR). The hybrid controller uses a proportional position, PID velocity outer loop coupled with an inner loop LQR for attitude control. The entire system is developed and implemented in hardware to produce a functional autopilot. The unit was installed on an Align Trex 600 RC helicopter and demonstrated its ability to hover the helicopter at a desired location. Preliminary investigations have also showed the controller is capable of flying waypoints.
Page Count
76
Department or Program
Department of Electrical Engineering
Year Degree Awarded
2009
Copyright
Copyright 2009, all rights reserved. This open access ETD is published by Wright State University and OhioLINK.
