Model-based optimal attitude and positioning control of small-scale unmanned helicopter

Abstract

In this paper, we propose a model-based control system design for autonomous flight and guidance control of a small-scale unmanned helicopter. Small-scale unmanned helicopters have been studied by way of fuzzy and neural network theory, but control that is not based on a model fails to yield good stabilization performance. For this reason, we design a mathematical model and a model-based controller for a small-scale unmanned helicopter system. In order to realize a fully autonomous small-scale unmanned helicopter, we have designed a MIMO attitude controller and a trajectory controller equipped with a Kalman filter-based LQI for a small-scale unmanned helicopter. The design of the trajectory controller takes into consideration the characteristics of attitude closed-loop dynamics. Simulations and experiments have shown that the proposed scheme for attitude control and position control is very useful.

Enhanced Data Driven Mode-Free Adaptive Yaw Control of UAV Helicopter

“…Currently, in order to control the yaw-channel of UAV, various control methods are proposed by [6][7][8][9], for example, nonlinear adaptive control, backstepping control, and neural network control and so on.…”

“…In the past few decades, linear control algorithms have been extensively researched [1,[3][4][5]. Many linear control technologies were used to design the UAV helicopter control system [1,[6][7][8][9][10]. However, for the tracking control, the controller based on fixed linear models may result in an unacceptable response and even the instability of the closed-loop system.…”

Optimal control of multiple magnetic microbeads navigating in microfluidic channels

“…Also, it presents good performance in position stabilization and robustness. As example, we can cite the attitude and positioning control of small scale unmanned helicopter [7], the motion and vibration control of a three dimensional flexible shaking table [8] or electromagnetic navigating tunneling robots [9]. Finally, experimental results demonstrate the optimal stabilization of the 1D positions of two magnetic microbeads navigating in a microfluidic channel.…”

Yaw Control of Small-scale Helicopter with Time-varying Uncertainty: an Adaptive Robust H2 Control Approach

“…The last decade has witnessed remarkable progress in small-scale helicopter control [4][5][6] based on fixed models. Helicopter dynamics is highly nonlinear, coupled with the uncertainties associated with varying environment and changing flight conditions.…”