Attitude Control System Design of a Helicopter Experimental System

Abstract

Abstract-In this paper, we consider the problem of attitude control of a helicopter experimental system. We design a nonlinear controller which combines nonlinear adaptive robust control and nonlinear feedback controls. Simulation and experimental results show the effectiveness of the proposed method.

Framework of combined adaptive and non-adaptive attitude control system for a helicopter experimental system

“…The designed experimental system in [2] and [3] is a 2-input 2-output system which attaches motors for turning a main rotor and tail rotor, and detects pitch angle and yaw angle with rotary encoders. The motion equations of the helicopter are shown as follows (see Fig.…”

“…In this paper addressing its designed system, we present a framework of combined adaptive and non-adaptive attitude control for the helicopter experimental system, based on an adaptive sliding mode control method [4,5] and some conventional linear and nonlinear control methods [6,7] . The framework summarizes the current results in [2] and [3]. That is, we consider two design schemes: in the first case it is assumed that the structure of uncertainty is known but parameters are unknown; in the second case, it is assumed that uncertainty has two parts, namely one is a known structure with unknown parameters, and another is an unknown structure with a known upper-bound.…”

“…Recently, a helicopter experimental system for the research of attitude control was considered [2,3] . In this paper addressing its designed system, we present a framework of combined adaptive and non-adaptive attitude control for the helicopter experimental system, based on an adaptive sliding mode control method [4,5] and some conventional linear and nonlinear control methods [6,7] .…”

Second-Order Geometric Sliding Mode Attitude Observer with Application to Quadrotor on a Test Bench

“…And attitude control is the process of orienting the rigid body in a specified predetermined direction. Attitude control system is an important subsystem in aircrafts, spacecrafts, and satellites and is responsible for pointing and slewing [1][2][3][4][5]. In the case of quadrotor control, translational outer loop is usually realized on the basis of rotational inner loop, as a result of its property of underactuatation [6][7][8][9].…”

Nonlinear dynamic modeling and control of a small-scale helicopter

“…Furthermore, flight maintenance is time consuming and costly, especially if an air crash has occurred. All of these factors motivate the use of the experimental test stands to gain insight in the modeling and control of small-scale helicopters [1][2][3][4][5][6].…”