Application of Software Enabled Control Technologies to a Full-Scale Unmanned Helicopter

This paper presents a control architecture designed to accommodate a selection of modern control algorithms on a full-scale rotary-wing, unmanned aerial vehicle. The architecture integrates a visual landing system, two path planners, a flight envelope protection algorithm, and two low-level flight controllers that were developed independently by six agencies in academia and industry. A newly developed vehicle model and an exportable simulation environment were assembled in an open control infrastructure to expedite the algorithm development. The collaboration resulted in successful flight testing of the architecture and multiple control algorithms on Boeing’s Renegade Unmanned Aerial Vehicle, a derivative of the Robinson R22. The aircraft successfully switched from a conventional flight controller to an adaptive neural network flight controller on four occasions making it the largest helicopter to operate under adaptive neural network flight control.


Development of an autopilot for automatic landing of an unmanned aerial vehicle
Arıbal, Seçkin; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2011)
This thesis presents the design of an autopilot and guidance system for an unmanned aerial vehicle. Classical (PID) and modern control (LQT, Sliding Mode) methods for autonomous navigation and landing in adverse weather conditions are implemented. Two different guidance systems are designed in order to navigate through waypoints during normal and/or emergency flight. The nonlinear Pioneer UAV model is used in controller development and simulations. Aircraft is linearized at different trim points and total a...
Modelling of an articulated flying body and control system design
Güzelcan, Burçin Tutku; Yazıcıoğlu, Yiğit; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2022-12-5)
This study presents the conceptual design of an articulated coaxial rotor Unmanned Air Vehicle (UAV) with three-dimensional dynamical models and a control strategy. Conventional rotary-wing aircrafts operate maneuvers via swashplates which is a complex mechanism adding bulky elements to the aircrafts. While designing light weight UAVs, there appears a need for less complex and compact mechanisms for maneuverability rather than swashplates. There are different methods and mechanisms to acquire maneuvering wi...
Design and Analysis of an Unmanned Aerial Vehicle Hybrid Trailing Edge Control Surface Having Camber and Decamber Capabilities
Topaç, Ömer Tanay; Taşdemir, Burcu; Gürses, Ercan; Çöker, Demirkan (2015-09-12)
This paper presents the design and analyses of an unmanned aerial vehicle hybrid trailing edge control surface having camber and decamber capabilities. Initially, a brief introductory information were given about morphing concepts. Then, the structural design and analyses in in-vacuo condition are presented. The aerodynamic loadings were calculated at the morphed configurations, and these loads were transferred to the structural mesh in order to assess the design capability under the aerodynamic loading. It...
Experimental Evaluation of Panel-Method-Based Path Planning for eVTOL in A Scaled Urban Environment
Ünal, Zeynep; Bronz, Murat; Yavrucuk, İlkay (2022-01-01)
In this study, previously proposed panel method based path planning for electric vertical take off and landing vehicles in urban environments is tested in a high fidelity simulation environment and with real-life drones in an indoor flight arena. Panel method is a numerical tool, borrowed form fluid dynamics domain, that can generate collision free paths for multiple vehicles in environments with arbitrarily shaped obstacles while guaranteeing obstacle avoidance and convergence to global minima with little ...
Aerodynamic design and control of tandem wing unmanned aerial vehicle
Kaya, Taşkın; Özgen, Serkan; Department of Aerospace Engineering (2019)
This thesis presents an approach towards the design methodology of electrical propulsion, tandem wing unmanned aerial vehicle. Due to its possible rewarding features, tandem wing design is investigated as the main subject of this study. The stability and control characteristics of tandem wing aircraft are critical since the interference between the two wings may result in nonlinear aerodynamic characteristics for varying angles of attack. Thus, the design of the controller system requires careful handling, ...
Citation Formats
İ. Yavrucuk, “Application of Software Enabled Control Technologies to a Full-Scale Unmanned Helicopter,” 2005, Accessed: 00, 2020. [Online]. Available: