Automatic Flight Control of Unmanned Helicopter Based on Nonlinear Model

Run Xia Guo

doi:10.4028/www.scientific.net/AMR.472-475.1492

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 472-475Automatic Flight Control of Unmanned Helicopter...

Automatic Flight Control of Unmanned Helicopter Based on Nonlinear Model

Abstract:

The Unmanned helicopter (UMH) movement was divided into two parts, namely, attitude and trajectory motion. And then a two-timescale nonlinear model was established. The paper improved and expanded state dependent riccati equation (SDRE) control approach, deriving analytical conditions for achieving global asymptotic stability with lyapunov stability theory. Proof was given. By combining improved SDRE control with nonlinear feed-forward compensation technique, the full envelop flight attitude control laws could be designed. On the basis of attitude control, trajectory controller was developed. Actual flight tests were carried out. Test results show that the control strategy is highly effective.

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Advanced Manufacturing Technology, ICMSE 2012

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Periodical:

Advanced Materials Research (Volumes 472-475)

Pages:

1492-1499

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.472-475.1492

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Online since:

February 2012

Authors:

Run Xia Guo

Keywords:

Flight Tests, Global Asymptotic Stability, Nonlinear Model, State Dependent Riccati Equation (SDRE), Unmanned Helicopter (UMH)

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