Modeling and Control for a Small UAV Helicopter

Abstract:

A frequency identification modeling method for a small UAV helicopter and its control system design is presented. A modified frequency identification method for a state-space model of helicopter is presented. The overall concept is to extract a complete set of non-parametric input-to-output frequency responses that fully characterizes the coupled helicopter dynamics, conduct a nonlinear search based on secant method for a linear state-space model that matches the frequency-response data set. The accuracy of the identified model is verified by flight experiments. A path following controller is presented for an unmanned helicopter with two-loop control frame. The outer-loop is used to obtain the expected attitude angles through reference path and speed with guidance-based path following control, and the inner-loop is used to control the attitude angles of helicopter tracking the expected ones with loop shaping method. Finally, an 8 trajectory tracking simulation is conducted to illustrate the efficiency of the proposed control method.

• Periodical: Applied Mechanics and Materials (Volume 532)
• Pages: 70-73
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.532.70
• Online since: February 2014
• Authors: Peng Liu*, Sheng Dong Liu, Zhneg Zhao, Jia Qi Liu
• Keywords: Flight Control, Frequency Identification, Path Following, State-Space Model, UAV Helicopter

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