Fully Automated 3 DOF Helicopter Control
A complete autonomous control system for a Quanser 3 DOF helicopter — tuned closed-loop PID controllers, trajectory planning, sensor fusion, and gain scheduling for payload pickup missions.
Overview
For my fourth-year graduation project at Ryerson University, I designed and implemented a system of tuned, closed-loop PID controllers to achieve a completely autonomous 3 DOF Quanser helicopter. Full system analysis and identification were conducted and simulated using Matlab/Simulink/Quarc realtime computer platform. A position/velocity trajectory planner was designed and incorporated into the system for performing complete mission scenarios. I also integrated a modular sensor package (MSP) into the helicopter system for pitch and elevation angles estimation for control feedback. Gain scheduling was implemented for advanced mission scenarios, in which the controller must move the helicopter to a predetermined location to pick a payload using a magnetic grapple and return to the start point. The helicopter was tested for accuracy and robustness in different missions using the helicopter’s internal encoders as well as the designed MSP.
📄 Full Project Report (PDF)The Hardware
Quanser 3 DOF helicopter platform with elevation, pitch, and travel encoders — the physical plant used for system identification, closed-loop control, and mission testing.
Key Highlights
Closed-Loop PID
Tuned PID controllers for fully autonomous 3 DOF Quanser helicopter flight
Trajectory Planning
Position/velocity trajectory generator for complete mission scenarios
Sensor Integration
Modular sensor package (MSP) for pitch and elevation angle estimation
Payload Missions
Gain scheduling for magnetic grapple pickup and return-to-start scenarios
Mission Demonstrations
Live demos of autonomous control, trajectory tracking, and payload pickup missions on the Quanser 3 DOF helicopter.
