Comparison Studies

Abstract

This Chapter provides an extensive evaluation and comparison of the controller designs that have been presented in this book. The comparative study is completed by executing several nonaggressive and aggressive flight maneuvers that test the derived controllers in terms of stability and tracking accuracy. The test maneuvers are produced by inertial position (or velocity) and yaw reference trajectories. The reference trajectories are specially designed in order to examine the performance of the controllers in multiple operating conditions that cover a wide portion of the flight envelope. Some of the reference trajectories are particularly aggressive investigating the physical limitations of the helicopter. The controllers were tested for the Raptor 90 SE RC helicopter, which operates in the X-Plane flight simulator environment.