Two time‐scale assignment with state extension for an autonomous helicopter

Abstract

In this paper, a feedback control law based on two time-scale assignment and state extension is implemented for the nonlinear non-minimum phase dynamics of three degree-of-freedom autonomous unmanned helicopters (AUH). Unlike previous techniques, the design procedure does not require time-scale decomposition between attitude angle and translational states. This reduces the requirements for the AUH model and makes the controller more reliable. Time-scale assignment is implemented with partial internal dynamics. Exponential stability of the closed-loop system is proved with the retained non-minimum phase character, and simulation results are provided to demonstrate the effectiveness of the presented approach.

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