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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 13state Extended Kalman Filter (EKF) to fuse sensor data and provide a position/velocity/attitudeestimate. A novel, state of the art hybrid PID/LQR controller is developed and compared with afull 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. |
