A study on the 3-DOF attitude control of free-flying vehicle

This paper is studying on the 3-DOF attitude control of a helicopter. The characteristic to be heavily coupled with inputs and outputs, and the serious nonlinearity appear in the flying helicopter system. Due to these characteristics of a helicopter, people apply the nonlinear control, multi-variable control or optimal control for the attitude control of helicopter. It is too hard to define the relations of input and output in a view of dynamics, therefore others also study this theme in a view of AI control-(artificial intelligent control) based on the fuzzy theory or neural network. But in the hovering, those characteristics-heavily coupled system and nonlinearity, reduce considerably. In this paper, we assume that those characteristics are able to be disregarded in hovering. The model helicopter system that is constructed with three independent SISO (single input single output) systems, is acquired by system identification method, and then the PD-control (proportional derivative control) is applied individually to three independent SISO systems for a 3-DOF attitude control of a model helicopter in hovering. Those assumptions are verified by the experiment