A static feedback stabilizer for the longitudinal dynamics of a small scale helicopter including the rotor dynamics with stabilizer bar

Abstract

In this paper we propose a solution to the trajectory tracking problem for a small scale helicopters longitudinal dynamics. The controller results from a control design technique that constructs static feedback stabilizers for dynamically feedback linearizable nonlinear systems. The flatness characteristics of the helicopter's longitudinal dynamics are used to construct the desired trajectory showing that the main rotor thrust is never equal zero. Numerical simulations show the performance of the controller even in the case that the main rotor and stabilizer bar dynamics are included.

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

“…In [18], dynamic feedback linearization is used for tracking the longitudinal dynamics. Feedback linearization is implemented on a Bergen Industrial Twin with compensation of small body forces in [64] and also combined with nonlinear H ∞ in [75] for trajectory tracking.…”

Adaptive Fuzzy Sliding Mode Control for a Model-Scaled Unmanned Helicopter

“…Although the capability of linear control methods in performing maneuvers in a hover or low velocity regimes, have been proved, they only effective when the states of the unmanned helicopter system are near the equilibrium points. In order to overcome these deficiencies, many nonlinear control methods are designed and utilized, such as backstepping [10][11][12], feedback linearization [13][14], model predictive control [15][16], sliding mode control [17][18][19][20][21] and adaptive control [22][23]. Among them, one of the most effective for underactuated systems is backstepping, a recursive technique based on Lyapunov stability analysis, but this method needs the exact nonlinear model and it is impossible to obtain the exact model of the unmanned helicopter system.…”