Dynamic Inversion-Based Flare Control Law for Autonomous Helicopter Autorotation

Saetti, Umberto, Rogers, Jonathan, Alam, Mushfiqul, Cameron, Neil and Jump, Michael ORCID: 0000-0002-1028-2334
(2022) Dynamic Inversion-Based Flare Control Law for Autonomous Helicopter Autorotation. In: AIAA SCITECH 2022 Forum, 2022-1-3 - 2022-1-7, San Diego.

[img] Text
2022_Saetti_Rogers_Alam_Jump_Cameron_SciTech.pdf - Author Accepted Manuscript

Download (3MB) | Preview


A novel trajectory generation and control architecture for fully autonomous autorotative flare is proposed that combines rapid path generation with model-based control. The trajectory generation component uses optical Tau theory to compute flare trajectories for both longitudinal and vertical vertical speed. These flare trajectories are tracked by a nonlinear dynamic inversion (NDI) control law. One convenient feature of NDI is that it inverts the plant model in its feedback linearization loop, which eliminates the need for gain scheduling. However, the plant model used for feedback linearization still needs to be scheduled with the flight condition. This key aspect is leveraged to derive a control law that is scheduled with linearized models of the rotorcraft flight dynamics obtained in steady-state autorotation while relying on a single set of gains. Computer simulations are used to demonstrate that the NDI control law is able to successfully execute autorotative flare in the UH-60 aircraft. Autonomous flare trajectories are compared to piloted simulation data to assess similarities and discrepancies between piloted and automatic control approaches. Trade studies examine which combinations of downrange distances and altitudes at flare initiation result in successful autorotative landings.

Item Type: Conference or Workshop Item (Unspecified)
Uncontrolled Keywords: helicopter, autorotation, ndi, trajectory, tau
Divisions: Faculty of Science and Engineering > School of Engineering
Depositing User: Symplectic Admin
Date Deposited: 14 Jan 2022 15:36
Last Modified: 18 Jan 2023 21:17
DOI: 10.2514/6.2022-1645
URI: https://livrepository.liverpool.ac.uk/id/eprint/3146178