A robust autonomous flight controller is proposed for a small-scale unmanned helicopter, THeli260. The controller is designed base on the inner-outer loop architecture. The inner-loop controls the attitudes and the outer-loop controls the translational trajectories of the helicopter. Based on a comprehensive nonlinear model of the small-scale unmanned helicopter, the inner and outer-loop dynamics are both regarded as nominal single-input single-output linear systems. The nonlinear uncertainties, coupling effects, parameter perturbations, and external disturbances are considered as equivalent disturbances. By employing the signal compensation method, robust controllers of the inner and outer-loop are both designed with two parts: a proportional-derivative controller and a robust compensator. The proposed controller can achieve top level control performance according to the ADS-33E-PRF military rotorcraft standard. Actual flight tests are conducted to check the effectiveness of the proposed robust flight controller.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust flight control of small-scale unmanned helicopter


    Contributors:
    Wang, Xiafu (author) / Chen, You (author) / Lu, Geng (author) / Zhong, Yisheng (author)


    Publication date :

    2013-07-01


    Size :

    357320 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous Flight Control Design for a Small-scale Unmanned Helicopter

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


    Autonomous Flight Control Design for a Small-scale Unmanned Helicopter

    Peng, Kemao / Chen, Ben M / Lum, Kai Yew | AIAA | 2011


    Small-scale coaxial armed unmanned helicopter flight dynamics investigation

    Wu, Meiliwen / Chen, Ming / Wang, Fang et al. | AIAA | 2016


    Small-scale Coaxial Armed Unmanned Helicopter Flight Dynamics Investigation (AIAA 2016-3377)

    Wu, Meiliwen / Chen, Ming / Wang, Fang et al. | British Library Conference Proceedings | 2016


    Attitude control optimization for a small-scale unmanned helicopter

    Mettler, Bernard / Kanade, Takeo / Tischler, Mark et al. | AIAA | 2000