The purpose of this paper is to design a model-based robust controller for autonomous hovering of a small-scale helicopter.

    Design/methodology/approach

    The model is developed using prediction error minimization (PEM) system identification method implemented to flight data. Based on the extracted linear model, an H controller is synthesized for robustness against parametric uncertainties and disturbances.

    Findings

    The proposed techniques for modelling provide a linear state-space model which correlates well with the recorded flight data. The synthesized H controller demonstrates an effective performance which rejects both sinusoidal and step input disturbances. The controller enables the attitude angle follow the reference target while keeping the attitude rate constant about zero for hover flight condition.

    Research limitations/implications

    The synthesized controller is effective for hovering and low-speed flight condition.

    Practical implications

    This work provides an efficient hovering/low-speed autonomous helicopter flight control required in many civilian UAV applications such as aerial surveillance and photography.

    Originality/value

    The paper addresses the challenges of controlling a small-scale helicopter during hover with inherent modelling uncertainties and disturbances.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    State space identification and implementation of H control design for small-scale helicopter


    Contributors:

    Published in:

    Publication date :

    2010-10-19


    Size :

    13 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Identification Modeling of a Small-Scale Unmanned Helicopter

    Zhiqiang, Bai / Jinhua, Wang / Peizhi, Liu | AIAA | 2009



    Autonomous Flight Control Design for a Small-scale Unmanned Helicopter

    Peng, K. / Chen, B. / Lum, K. et al. | British Library Conference Proceedings | 2011


    IDENTIFICATION AND CONTROL DESIGN OF A SUB-SCALE FLYBARLESS HELICOPTER

    Walker, J. / Tischler, M. | British Library Conference Proceedings | 2021