Hierarchical hybrid control system of small unmanned helicopter

Abstract

A hierarchical hybrid control system of a small unmanned helicopter was designed based on the hierarchical architecture and the hybrid system theory.The system was divided into three layers: the regulation layer consisting of multiple single mode controllers responsible for different flight modes is a continuous dynamic system;the action planning layer performs the transition of multiple flight modes and gives flight reference trajectories;the flight schedule layer assigns the discrete evolution to execute an appropriate flight mode.The hierarchical hybrid control system was verified in a rectangle cruise flight in three-dimensional space on an unmanned helicopter.