Control System for Model Scale Semi-Autonomous Rotorcraft Research Vehicle

The purpose of this study is to explore and develop the best candidate attitude control system to maximize the FFRRV flight envelope and handling qualities for various rotorcraft configurations. The intent is to provide a controls design methodology which allows hardware and software reconfigurations and leverages the ease and simplicity of down loading design parameters to a well defined and robust adaptive control system. An automated controls design will be computer implemented and used to determine the appropriate gains and filters given the FFRRV configuration. This will then be down loaded as machine code using a commercially available auto-code generator to a flight processor commanding a defined architecture of multiple control loops i.e. torque, rate, attitude and velocity loops. Off the shelf commercial grade hardware for inertial instruments, transmitters/receivers, and electric servos/controller will be compiled and evaluated for modularity and maintainability. Both modern and classical controls techniques will be explored.