1. “Landing unmanned VTOL systems: Issues in control and navigation ” AEROSPACE CONTROL AND GUIDANCE SYSTEMS COMMITTEE Eric Feron Dutton/Ducoffe Professor School of Aerospace Engineering Georgia Institute of Technology

2. Outline High Agility Flight New local positioning sensor for landing Obstacle-sensitive flight controls

3. Aerobatic Helicopter HILSim Ground Station

4. High agility flight

5. Concept: A helicopter Carrier for Firefighting/Law Enforcement 2.4m Target ~0.5m ~0.55m Cab Forward Configuration, side view

6. Managing the interface: Automated landing 0 x y Requirements: -Repeatable landings in demanding areas -No GPS system upon final approach -Sensing issues -Actuation issues

7. d x y h Sensing Solution via Moire Pattern Light source Gratings

8. Demo

9. Current System

10. Vertical Wall Landing Conservative Landing Approach will not work. We will assume we are given a feasible reference trajectory X - Travel H – height Wall

11. 3 DOF helicopter

12. More attempts…

21. Bottom line We get a gain-scheduled family of obstacle- sensitive trajectory trackers in one shot. Allows us to change what output we care most about in real-time, and schedule controllers accordingly. Controllers come with built-in closed-loop stability guarantees. Controller structure may vary quickly.

22. Example: Longitudinal motion of “helicopter” Reference trajectory Obstacle

23. The end feron@gatech.edu