The Unmanned helicopter (UMH) movement was divided into two parts, namely, attitude and trajectory motion. And then a two-timescale nonlinear model was established. The paper improved and expanded state dependent riccati equation (SDRE) control approach, deriving analytical conditions for achieving global asymptotic stability with lyapunov stability theory. Proof was given. By combining improved SDRE control with nonlinear feed-forward compensation technique, the full envelop flight attitude control laws could be designed. On the basis of attitude control, trajectory controller was developed. Actual flight tests were carried out. Test results show that the control strategy is highly effective.
Automatic Flight Control of Unmanned Helicopter Based on Nonlinear Model
Advanced Materials Research ; 472-475 ; 1492-1499
2012-02-27
8 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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