Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter

In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical cont...

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Bibliographic Details
Published in2010 IEEE Conference on Robotics, Automation and Mechatronics pp. 321 - 326
Main Authors Karimoddini, Ali, Guowei Cai, Chen, Ben M, Hai Lin, Lee, Tong H
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Aerospace control
Aerospace electronics
Attitude control
Control systems
Helicopters
Hierarchical Control
Inner-loop Controller
Nonlinear control systems
Outer-loop Controller
Proportional control
Sensor systems
Testing
Unmanned aerial vehicles
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ISBN1424465036
9781424465033
ISSN2158-2181
DOI10.1109/RAMECH.2010.5513171

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Summary:In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model and the outer-loop controller that handles the nonlinear parts. The inner-loop controller aims at the attitude control of the helicopter and the outer-loop is responsible for its position control. The performance of the designed controller is demonstrated through the simulation and actual flight tests in the hovering situation and the path-tracking mode.
ISBN:1424465036
9781424465033
ISSN:2158-2181
DOI:10.1109/RAMECH.2010.5513171