Control logic for automated aerobatic flight of a miniature helicopter

In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute a completely automatic aerobatic maneuver. 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. Extensive flight tests with this control logic demonstrated smooth entry into the maneuver, automatic recovery to a steady-state trim trajectory, and the robustness of the trim-trajectory control system toward measurement and modeling errors. This approach can be extended to a variety of maneuvers.