High Performance Position Control of an Autonomous Small Size Helicopter

K. Kondak, M. Bernard, G. Hommel, and D. Kopanev (Germany)


autonomous helicopter, flight control, mobile robots.


The mathematical description of the kinematics and dy namics of a model helicopter is presented. Using the de rived closed form solution for simplified dynamics, a ro bust controller for an autonomous model helicopter is pre sented. This controller is designed without using decom position of the system in two loops (the inner loop for con trolling the orientation of the main rotor plane and the outer loop to control the position) and subsequent usage of cas cade control. It is shown that the proposed controller has significantly better performance of position control. The performance of the proposed controller is demonstrated in real flight experiments.

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