A Hybrid Control Method for an Unmanned Scale Helicopter Attitude

A hybrid control method is designed and implemented on the attitude control of an unmanned scale helicopter. The hybrid controller is composed of a linear controller and a radial basis function neural network compensator. The compensator, which features in optimal approximation, can compensate the dynamical inversion error caused by the deficiency of full knowledge of helicopter dynamics. This system is applied to an unmanned scale helicopter mounted on a vertical platform. The application results show that the proposed controller cannot only cancel the dynamical error effectively but also improve tracking performance of the attitude control system. And the fine robustness for imprecise helicopter model is accounted for