Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model

被引：0

作者：

王赓 ^{[1
]}

Kondak Konstantin ^{[2
]}

Marek Musial ^{[2
]}

盛焕烨 ^{[1
]}

吕恬生 ^{[3
]}

Hommel Günter ^{[2
]}

机构：

[1] Dept. of Computer Sci. & Eng. , Shanghai Jiaotong Univ.

[2] Dept. of Computer Sci. & Electronics, Technische Univ.

[3] Eng. Training Center, Shanghai Jiaotong Univ.

来源：

Journal of Shanghai Jiaotong University(Science) | 2007年 / 06期

基金：

中国国家自然科学基金;

关键词：

unmanned helicopter; dynamical model; flight control; unmanned aerial vehicle (UAV);

D O I：

暂无

中图分类号：

V249.1 [飞行控制];

学科分类号：

081105 ;

摘要：

It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts: orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.

引用

页码：744 / 752

页数：9

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