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Linear and Nonlinear Control of Small-Scale Unmanned Helicopters

Part of the Intelligent Systems, Control and Automation: Science and Engineering Book Series (volume 45)

DOI: 10.1007/978-94-007-0023-9

ISBN: 978-94-007-0022-2

Publisher: Springer Netherlands - Springer Journals

Aug 5, 2010

1 - 10 of 11 Chapters

Available

Introduction

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 1 –11

[This Chapter presents the rationale for the book, defines the problem to be solved along with the challenges that need to be overcome, and concludes with a summary of the linear and nonlinear controller methodologies that will be detailed in subsequent Chapters.]
Available

Review of Linear and Nonlinear Controller Designs

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 13 –19

[This Chapter reviews several flight controller designs for unmanned rotorcraft. Flight control systems have been proposed and tested on a wide range of rotorcraft types and configurations. This review includes controller designs for several rotorcraft types such as full-scale, small-scale and...
Available

Helicopter Basic Equations of Motion

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 21 –30

[The objective of this Chapter is to provide the basic equations of motion of the helicopter, when the helicopter is treated as a rigid body. The equations of motion are derived by implementing Newton’s second law that deals with vector summations of all forces and moments as applied to the...
Available

Simplified Rotor Dynamics

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 31 –46

[The helicopter’s main source of propulsion is provided by the main and tail rotor. The aerodynamic forces and moments are nonlinear functions of motion characteristics and controls. Due to the complexity and the uncertainty associated with the aerodynamic phenomena, a detailed model of the...
Available

Frequency Domain System Identification

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 47 –72

[Any helicopter flight controller design requires knowledge of a mathematical model that accurately describes the dynamic behavior of the helicopter. This mathematical model is represented by a set of ordinary differential equations. Establishing such a model for helicopters is a challenging...
Available

Linear Tracking Controller Design for Small-Scale Unmanned Helicopters

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 73 –102

[The previous Chapter presented an analytical methodology for the extraction of a linear dynamic model for a small-scale helicopter based on (Mettler in Identification Modeling and Characteristics of Miniature Rotorcraft, Kluwer Academic Publishers, Norwell, 2003; Tischler and Remple in Aircraft...
Available

Nonlinear Tracking Controller Design for Unmanned Helicopters

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 103 –135

[The previous Chapter presented a tracking controller of the position and heading of a helicopter based on the linearized helicopter dynamics. The adopted parametric linear model, on which the flight controller is based on, represented the quasi steady state behavior of the helicopter dynamics at...
Available

Time Domain Parameter Estimation and Applied Discrete Nonlinear Control for Small-Scale Unmanned Helicopters

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 137 –151

[This Chapter deals with the dual problem of parameter estimation and nonlinear discrete control of helicopters. The objective is to develop a practical identification and control solution for direct application to an autonomous helicopter flight system. Although most controller designs are in...
Available

Time Domain System Identification for Small-Scale Unmanned Helicopters Using Fuzzy Models

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 153 –159

[The system identification method presented in this Chapter is based on a Takagi–Sugeno fuzzy system that represents the translational and rotational velocity dynamics of the helicopter. For the parameter estimation of the Takagi–Sugeno fuzzy system a classical RLS algorithm is used, which allows...
Available

Comparison Studies

Raptis, Ioannis A.; Valavanis, Kimon P.

Pages: 161 –179

[This Chapter provides an extensive evaluation and comparison of the controller designs that have been presented in this book. The comparative study is completed by executing several nonaggressive and aggressive flight maneuvers that test the derived controllers in terms of stability and tracking...

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