Aggressive Maneuvering Flight Tests of a Miniature Robotic Helicopter

In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute an aerobatic maneuver under computer control. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies for maneuver execution. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery from the maneuver to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modelling errors. This approach can be used with an advanced motion planning algorithm which utilizes the vehicle agility.