Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. / This thesis describes the successful development of an autopilot for an unmanned
radio controlled helicopter. It presents a non-linear helicopter model. An adaptive
linearised model is derived and used to design a controller. The adaptive full
state controller is tested in various ways, including two aerobatic manoeuvres. A
number of analyses are performed on the controller, including its robustness to parameter
changes, noisy estimates, wind and processing power. The controller is
compared with a non-adaptive counterpart, which leads to the conception, design
and analysis of a much improved control structure. Practical flight test results are
presented and analysed.
In some instances available literature was reworked and re-derived to produce
a genericmodel-controller package that can easily be adapted for helicopters of any
make, model and size.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/2934 |
| Date | 03 1900 |
| Creators | Van Schalkwyk, Carlo |
| Contributors | Milne, G. W., Jones, T., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Stellenbosch |
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