For a maneuvering unmanned autonomous helicopter, it is necessary to design a proper controller for each flight mode. In the paper, the overall helicopter dynamics is derived and a hovering model is linearized and transformed into a state-space form. However, since it is difficult to obtain parameters for stability derivatives in the state-space directly, a linear control model is derived by a time-domain parametric system identification method with real flight data of a model helicopter. Then, two different controllers (a linear feedback controller with the proportional gain and a robust controller) are designed and their performances are compared. The simulation results show outstanding performance. The validated controllers can be utilized to enable autonomous flight of a RUAV (Rotorcraft-based Unmanned Aerial Vehicle).
System identification and 6-DOF hovering controller design of unmanned model helicopter
Systemidentifikation und Entwurf eines Reglers mit 6 Freiheitsgraden für ein unbemanntes Hubschraubermodell
2006
10 Seiten, 12 Bilder, 1 Tabelle, 12 Quellen
Article (Journal)
English
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