Modeling and Robust Attitude Controller Design for a Small Size Helicopter

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.Comment: 6 page

Mathematical modeling and vertical flight control of a tilt-wing UAV

This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments

The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

The adaptive control system of quadrocopter motion

In this paper we present a system for automatic control of a quadrocopter based on the adaptive control system. The task is to ensure the motion of the quadrocopter along the given route and to control the stabilization of the quadrocopter in the air in a horizontal or in a given angular position by sending control signals to the engines. The nonlinear model of a quadrocopter is expressed in the form of a linear non-stationary system

Simulation of tail boom vibrations using main rotor-fuselage Computational Fluid Dynamics (CFD)

In this work, fully-resolved rotor-fuselage interactional aerodynamics is used as the forcing term in a model based on the Euler-Bernoulli equation, aiming to simulate helicopter tail-boom vibration. The model is based on linear beam analysis and captures the effect of the blade-passing as well as the effect of the changing force direction on the boom. The Computational Fluid Dynamics (CFD) results were obtained using a well-validated helicopter simulation tool. Results for the tail-boom vibration are not validated due to lack of experimental data, but were obtained using an established analytical approach and serve to demonstrate the strong effect of aerodynamics on tail-boom aeroelastic behavior

Aeronautical Engineering: A special bibliography with indexes, supplement 62

This bibliography lists 306 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1975

The application of nonlinear control theory to robust helicopter flight control.

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