Robust Flight Control of a Small Unmanned Helicopter
This work addresses flight control challenges for small UAVs, but it appears incremental as it builds on existing methods for a specific application.
The paper tackled the problem of designing a robust attitude controller for a small unmanned helicopter by proposing a new control law combining nonlinear and model-free methods, and demonstrated its effectiveness and robustness in real-world experiments involving wind gusts and ground effects.
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.