Autonomous Flight Control of RC Helicopter With Wind Disturbance

This paper considers autonomous flight of a small RC helicopter with wind disturbance. We first define a ratio of wind force to maximum thrust. This ratio plays an important role to characterize flight task difficulty for small helicopters. Then previous works for UAVs are classified according to the ratio and it is shown that autonomous flight of a micro helicopter with high ratio wind disturbance has not been studied. Based on this background, we present a control law for autonomous flight of micro helicopters with the wind disturbance and confirm that the helicopters can be hovered stably by experiments.