| Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model |
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| 作者姓名： | WANG Geng Kondak Konstantin Marek Musial SHENG Huan-ye LU Tian-sheng Hommel Günter |
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| 摘 要： | It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.
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Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model |
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| Abstract: | It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented. |
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| Keywords: | unmanned helicopter dynamical model flight control unmanned aerial vehicle (UAV) |
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