scholarly journals Nonlinear Attitude Control Design and Verification for a Safe Flight of a Small-Scale Unmanned Helicopter

2019 ◽  
Author(s):  
Omar A. Jasim ◽  
Sandor M. Veres
Keyword(s):  
Attitude Control ◽  
Control Design ◽  
Small Scale ◽  
Unmanned Helicopter

Model-based optimal attitude and positioning control of small-scale unmanned helicopter

Robotica ◽  
2005 ◽  
Vol 23 (1) ◽  
pp. 51-63 ◽  
Author(s):  
Jinok Shin ◽  
Kenzo Nonami ◽  
Daigo Fujiwara ◽  
Kensaku Hazawa
Keyword(s):  
Network Theory ◽  
Attitude Control ◽  
Position Control ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Positioning Control ◽  
Model Based ◽  
Loop Dynamics ◽  
Neural Network Theory ◽  
Dynamics Simulations

In this paper, we propose a model-based control system design for autonomous flight and guidance control of a small-scale unmanned helicopter. Small-scale unmanned helicopters have been studied by way of fuzzy and neural network theory, but control that is not based on a model fails to yield good stabilization performance. For this reason, we design a mathematical model and a model-based controller for a small-scale unmanned helicopter system. In order to realize a fully autonomous small-scale unmanned helicopter, we have designed a MIMO attitude controller and a trajectory controller equipped with a Kalman filter-based LQI for a small-scale unmanned helicopter. The design of the trajectory controller takes into consideration the characteristics of attitude closed-loop dynamics. Simulations and experiments have shown that the proposed scheme for attitude control and position control is very useful.

Artificial bee colony optimised controller for small-scale unmanned helicopter

2017 ◽  
Vol 121 (1246) ◽  
pp. 1879-1896 ◽  
Author(s):  
R. Ma ◽  
H. Wu ◽  
L. Ding
Keyword(s):  
Attitude Control ◽  
Artificial Bee Colony ◽  
Control Method ◽  
Hierarchical Control ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Bee Colony ◽  
Loop Transfer Recovery

ABSTRACTIn this paper, an efficient approach to design and optimize a flight controller of a small-scale unmanned helicopter is proposed. Given the identified helicopter model, the Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) robust control method is applied for trajectory tracking and attitude control of the helicopter with a two-loop hierarchical control architecture. Since the performance of the controller extremely depends on its weighting matrices, the Artificial Bee Colony (ABC) algorithm is introduced to automatically select the parameters of the matrices. Comparative studies between optimal algorithms are also carried out. A series of flight experiments and simulations are conducted to investigate the effectiveness and robustness of the proposed optimised controller.

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