Abstract
This article aims to study a solution that can solve the problem of tracking control for yaw motion of an unmanned helicopter. The non-affine nonlinear equation is converted to a simplified affine model. The unknown parameters are estimated by the Levenberg–Marquardt algorithm. An autonomous flight controller is developed with the Lyapunov-based adaptive controller for a discrete-time system. For flight data collection and verification purpose, the software-in-the-loop is constructed based on Simulink and X-Plane simulator. The designed system is applied in the control of the yaw motion of an R30 V2 helicopter under ideal and turbulent environments. The performance of the proposed method is compared with the fuzzy logic controller, and the simulation results show that the quality of the current approach is considerably better.
Highlights
An unmanned helicopter is a mobile robot that integrates navigation and positioning sensors and control algorithms
Some states are immeasurable, and dynamic coupling is observed among the state variables and control inputs
A non-affine multiple-input and multiple-output (MIMO) attitude tracking controller is synthesized for the control of the hypersonic flight vehicle
Summary
An unmanned helicopter is a mobile robot that integrates navigation and positioning sensors and control algorithms. The problem is how to handle the nonaffine nonlinearities and unknown/uncertain nonlinear terms in the helicopter dynamic The proposed methods such as adaptive fuzzy, adaptive neural network, and sliding mode technique are widely applied in solving this issue.[3,4,5,6] Some remarkable solutions are proposed in previous studies[7,8,9,10,11] for the unmanned aerial vehicle (UAV). The fusion of fuzzy wavelet neural network was applied to estimate unknown flight dynamic, which helps to design the controller against pragmatic uncertainties Another solution of fuzzy sliding mode technique, with the consideration of non-affine nonlinear aerodynamic coefficients, was utilized to handle non-affine problem.[11] A non-affine multiple-input and multiple-output (MIMO) attitude tracking controller is synthesized for the control of the hypersonic flight vehicle.
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