Keywords

aerobatic maneuvering, UAV, unmanned aircraft

Abstract

We develop aerobatic maneuvering for miniature air vehicles (MAVs) using time-parameterized attitude trajectory generation and an associated attitude tracking control law. We develop two methodologies, polynomial or trigonometric, for creating smooth functions that specify pitch and roll angle trajectories. For both approaches, the functions are constrained by the maneuver boundary conditions for aircraft position and velocity. We develop a feedback control law to regulate aircraft orientation throughout the maneuvers. The performance of our trajectory generation algorithm and our attitude tracking control law is demonstrated through simulated and actual flight tests of aerobatic maneuvers.

Original Publication Citation

James Hall and Timothy McLain. "Aerobatic Maneuvering of Miniature Air Vehicles Using Attitude Trajectories", AIAA Guidance, Navigation and Control Conference and Exhibit, Guidance, Navigation, and Control and Co-located Conferences, (2008). http://dx.doi.org/10.2514/6.2008-7257