NDLI: Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter

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Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter

Content Provider	Semantic Scholar
Author	Cai, Guowei Chen, Ben M. Dong, Xiangxu Lee, Tong Heng
Copyright Year	2011
Abstract	In this work, we focus on the design and implementation of a robust flight control system for an unmanned helicopter. A comprehensive nonlinear model for an unmanned helicopter system, which is built by our research team at the National University of Singapore, is first presented. A three-layer control architecture is then adopted to construct an automatic flight control system for the aircraft, which includes (1) an inner-loop controller designed using the H1 control technique to internally stabilize the aircraft and at the same time yield good robustness properties with respect to external disturbances, (2) a nonlinear outer-loop controller to effectively control the helicopter position and yaw angle in the overall flight envelope, and lastly, (3) a flight-scheduling layer for coordinating flight missions. Design specifications for military rotorcraft set for the US army aviation are utilized throughout the whole process to guarantee a top level performance. The result of actual flight tests shows our design is very successful. The unmanned helicopter system is capable of achieving the desired performance in accordance with the military standard under examination.
Starting Page	803
Ending Page	820
Page Count	18
File Format	PDF HTM / HTML
DOI	10.1016/j.mechatronics.2011.02.002
Volume Number	21
Alternate Webpage(s)	http://uav.ece.nus.edu.sg/~bmchen/papers/mech-si-cnf_2011.pdf
Alternate Webpage(s)	http://vlab.ee.nus.edu.sg/~bmchen/papers/mech-si-cnf_2011.pdf
Alternate Webpage(s)	http://www.tpbin.com/Uploads/Subjects/cb7884c6-23d2-45bd-b946-2fdabb1c0a14.pdf
Alternate Webpage(s)	https://doi.org/10.1016/j.mechatronics.2011.02.002
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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