Optimal Tracking Control of Mini Unmanned Helicopter based Iterative Approximating

Abstract

This paper introduces an optimal tracking control method, which can be used for a general class of nonlinear system. The method is based on an idea of iterative approximating. The original nonlinear system can be obtained by a series of linear time-varying systems after iterations. In this paper, limited time optimal tracking control method is used to linear time-varying system in every iterative process, which can obtain the optimal tracking control law to every linear time-varying system. After a certain number of iterations, the optimal tracking control law to the original nonlinear system can be achieved. The main advantage of this method is that it is not directly handle with the original nonlinear system, so it can avoid the complex mathematics process to nonlinear system. In the paper, this optimal control method is used to the mini unmanned helicopter, and the effectiveness of the method is verified by numerical simulation.