Concepts and Validation of a Small-Scale Rotorcraft Proportional Integral Derivative (PID) Controller in a Unique Simulation Environment

Abstract

At the current time, the U.S. Army Research Laboratory’s (ARL’s) Vehicle Technology Directorate is interested in expanding its Unmanned Vehicles Division to include rotary wing and micro-systems control. The intent is to research unmanned aircraft systems not only for reconnaissance missions but also for targeting and lethal attacks. This project documents ongoing work expanding ARL’s program in research and simulation of autonomous control systems. A proportional integral derivative control algorithm was modeled in Simulink (Simulink is a trademark of The MathWorks) and communicates to a flight simulator modeling a physical radio-controlled helicopter. Waypoint navigation and flight envelope testing were then systematically evaluated to the final goal of a feasible autopilot design. Conclusions are made on how to perhaps make this environment more dynamic in the future.