Simulation Model Update and Optimized Control Design of a Sub-Scale Flybarless Helicopter

This paper demonstrates simulation model updates using black-box filters and the application of Froude scaled ADS-33 specifications to design an inner- and outer-loop control system for a sub-scale flybarless helicopter. The black-box filters provide a simple and effective update to the vehicle plant resulting in accurate translation of design to flight. Design specifications for manned rotorcraft specified by ADS-33 are Froude scaled and applied as design minimums with adjustments made to accommodate limiting vehicle dynamics. The control system is optimized using CONDUIT and design margin optimization is used to maximize the vehicle performance. Flight testing is conducted to validate the control laws using system identification and the vehicle performance is demonstrated using scaled Mission Task Elements.