Smart Real-Time Motion Control Framework for 2-DOF Helicopters: A Teleoperation Approach

摘要

In this paper, we propose a modular and cost-effective smart real-time motion control framework for a group of two degrees of freedom (2-DOF) helicopters. The aerial configuration of a 2-DOF helicopter is formed by its pitch and yaw angles. The current framework mimics a teleoperation system in the sense that a human operator sends a command signal (desired pitch and yaw angles) to a group of helicopters from a smart mobile device. Each helicopter receives the command signal through a customized single-board computer interfaced with it and then executes an optimal control strategy [here, a linear quadratic regulator (LQR)] for it to follow the command signal. The proposed framework is tested using a smart mobile device running an Android operating system and two 2-DOF helicopters available in the market. Experimental results are presented to demonstrate the smart real-time motion control framework.