Nonlinear system and control of the model-scale helicopter

Author

Song, Baoquan ; Fan, Caizhi ; Liu, Yunhui ; Mills, James K. ; Cai, Xuanping

Author_Institution

Coll. of Electron. Sci. & Eng., Nat. Univ. of Defense Technol., Changsha, China

fYear

2009

Firstpage

1081

Lastpage

1086

Abstract

A nonlinear model and control of a small-scale helicopter near hovering are investigated. Aiming at the characteristics of the model helicopter, the stabilizer bar dynamics is studied, and the tail rotor with the electronic gyro is discussed in detail. In addition, the main rotor inflow dynamics is modeled basing on the three-state nonlinear Pitt/Peters model. Then, a simplified nonlinear model is proposed for system identification and controller design. It is proved that the attitude-heave subsystem can be linearized by the dynamic feedback linearization technique. So, we conclude that the full nonlinear model can also be feedback linearized.

Keywords

aerospace control; control system synthesis; feedback; helicopters; identification; linearisation techniques; nonlinear control systems; attitude-heave subsystem; controller design; dynamic feedback linearization technique; electronic gyro; hovering; model-scale helicopter; nonlinear system; rotor inflow dynamics; stabilizer bar dynamics; system identification; tail rotor; three-state nonlinear Pitt-Peters model; Aerodynamics; Blades; Control system synthesis; Feedback; Helicopters; Linearization techniques; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Conference_Location

Guilin

Print_ISBN

978-1-4244-4774-9

Electronic_ISBN

978-1-4244-4775-6

Type

conf

DOI

10.1109/ROBIO.2009.5420991

Filename

5420991