{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/17609"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/17609","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Autonomous aerobatic maneuvering of miniature helicopters","abstract":"In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature helicopter in a wide range of flight conditions, including aerobatics. The control laws consist of steady-state trim trajectory controllers, used prior to, and upon exit from the maneuvers; and a maneuver execution logic inspired by human pilot strategies. In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles.","abstract_html":"In this thesis, I present an experimentally proven control methodology for the autonomous execution of aerobatic maneuvers with small-scale helicopters, and a low-order dynamic model which adequately describes a miniature helicopter in a wide range of flight conditions, including aerobatics. The control laws consist of steady-state trim trajectory controllers, used prior to, and upon exit from the maneuvers; and a maneuver execution logic inspired by human pilot strategies. In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles.","abstract_has_math":false,"creators":["Gavrilets, Vladislav, 1975-"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.","school":null,"contributors":[],"advisors":["Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik."],"committee_chairs":[],"committee_members":[],"year":2003,"date_issued":"2003","date_published":"2003","updated_at":"2026-07-22T22:21:30Z","subjects":["Aeronautics and Astronautics."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Ph.D."]},{"key":"dc:format.mimetype","label":"Dc Format Mimetype","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Autonomous aerobatic maneuvering of miniature helicopters"]}]}],"canonical_facts":{"dc:contributor.advisor":["Eric Feron, Munther Dahleh, David Vos and Carlos Cesnik."],"dc:contributor.department":["Massachusetts Institute of Technology. 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In order to test the control laws, a miniature helicopter was outfitted with a custom digital avionics system, and a hardware-in-the-loop simulation was developed. The logic was tested with several aerobatic maneuvers and maneuver sequences, which demonstrated smooth maneuver entry, automatic recovery to a steady-state trim trajectory, and robustness of the trim-trajectory control system toward measurement and modeling errors. Based on these results, I further propose a simplified hybrid model for a helicopter under such closed loop control. The model can be utilized in the development of computationally tractable motion-planning algorithms for agile vehicles."],"dc:description.degree":["Ph.D."],"dc:format.mimetype":["application/pdf"],"dc:identifier.uri":["http://hdl.handle.net/1721.1/17609"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. 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