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arXiv · 2101.09937

Robust Flight Control of a Small Unmanned Helicopter

Miaolei He·Jilin He·Xuan-yi Zhou
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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, Xuan-yi Zhou. 2021-01-25. Robust Flight Control of a Small Unmanned Helicopter. https://doi.org/10.13973/j.cnki.robot.2016.0337

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