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arXiv · 1812.10467

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

Miaolei He·Jilin He
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Abstract

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.

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Miaolei He, Jilin He. 2018-12-20. Modeling and Robust Attitude Controller Design for a Small Size Helicopter. https://doi.org/10.1109/icit.2019.8755139

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