Abstract
This paper copes with the controller design problem of a micro helicopter, which is a multivariable and strongly coupled nonlinear system. The state-space model near the hovering condition of pitch and roll channels is acquired by least-square system identification method, with flight test verification. Based on the identified model, model reference adaptive control is designed as angular rate controller, and PID controller is used to stabilize attitude loop. State-space model helps to decouple the roll and pitch channels, and model reference adaptive control can address external disturbances, model uncertainties and nonlinearities of the dynamics, which can be estimated and further eliminated online. Eventually, both simulations and actual flight tests are conducted to verify the effectiveness of the proposed control scheme.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.