LQR-Based Trajectory Control Of Full Envelope, Autonomous Helicopter

Controlling rotary wing platforms, especially on helicopters, is a difficult task because of the nonlinearity of the structure and strong coupled motion dynamics. In this paper, a linear, quadratic regulator method is used to control the trajectory and mission paths of the autonomous helicopter. Nonlinear motion dynamics is linearized at certain operating points and linear model is obtained by Taylor's series expansion. This model is integrated into MATLAB(R) program. By using LQR (Linear Quadratic Regulator) methodology, the attitude of (1)the autonomous Puma helicopter is controlled and two simulations are realized. The results show that this approach can effectively be applied to control rotary wing platforms on helicopters.