{"corpus_id":111008329,"paper_sha":"9a7158ca26f79a9247ecc54e0c6540e1a4d37b6b","doi":"10.2514/1.15796","arxiv_id":null,"pmid":null,"pmcid":null,"mag_id":2071069134,"dblp_id":null,"acl_id":null,"title":"Design and Flight Testing of an H00 Controller for a Robotic Helicopter","year":2006,"publication_date":"2006-03-01","venue":"","journal":{"name":"Journal of Guidance Control and Dynamics","pages":"485-494","volume":"29"},"journal_issn":null,"journal_title":null,"publication_types":[],"pubmed_pub_types":null,"s2_fields_of_study":["Engineering"],"reference_count":15,"citation_count":108,"influential_citation_count":3,"is_open_access":false,"arxiv_categories":null,"arxiv_license":null,"arxiv_journal_ref":null,"mesh_headings":null,"chemicals":null,"comments_corrections":null,"source_flags":1,"s2_open_access_pdf_url":null,"s2_open_access_landing_url":null,"s2_open_access_license":null,"s2_open_access_status":null,"pmc_open_access_pdf_url":null,"pmc_open_access_landing_url":null,"pmc_open_access_license":null,"pmc_open_access_status":null,"unpaywall_open_access_pdf_url":null,"unpaywall_open_access_landing_url":null,"unpaywall_open_access_license":null,"unpaywall_open_access_status":null,"abstract":"Although robotic helicopters have received increasing interest from university, industry, and military research groups, their flight envelope in autonomous operations remains extremely limited. The absence of high-fidelity simulation models has prevented the use of well-established multivariable control techniques for the design of high-bandwidth control systems. Existing controllers are of low bandwidth and cover only small portions of the vehicle's flight envelope. The results of the synergic use of high-fidelity integrated modeling strategies and robust multivariable control techniques for the rapid and reliable design of a high-bandwidth controller for robotic helicopters are presented. The project implemented and flight tested an H ∞ loop shaping controller on the Carnegie Mellon University (CMU) Yamaha R-50 robotic helicopter. During the flight tests, the CMU R-50 flew moderate-speed coordinated maneuvers with a level of tracking performance that exceeds performance reported in the publicly available literature. The authors believe that the results open the road to the implementation on robotic helicopters of full-flight-envelope control systems for complex autonomous missions.","claims":[{"public_id":"cl_b0d79b4e546708aca7b55d8b963be290","status":"active","text":"An H∞ loop shaping controller was implemented and flight tested on the Carnegie Mellon University Yamaha R-50 robotic helicopter.","confidence":0.98,"contributors":[{"id":1,"public_id":"12632b8b5f","public_label":"Anonymous (12632b8b5f)","roles":["extraction"],"url":"https://sah.borca.ai/u/12632b8b5f"}],"url":"https://sah.borca.ai/claims/cl_b0d79b4e546708aca7b55d8b963be290"},{"public_id":"cl_b0f6ab3561870dc2fd771dbc0f33e43c","status":"active","text":"During flight tests, the Carnegie Mellon University Yamaha R-50 robotic helicopter performed moderate-speed coordinated maneuvers with tracking performance exceeding that reported in the publicly available 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