Abstract
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 and Rotorcraft System Identification, AIAA Education Series, AIAA, Washington, 2006) . Modern control techniques are model based, in the sense that the controller architecture depends on the dynamic description of the system. Therefore, the knowledge of the helicopter linear dynamic model is very valuable for designing (autonomous) flight controllers. This Chapter presents a systematic procedure for the design of a flight controller based on the linear dynamic representation of the helicopter. The controller objective is for the helicopter to track predefined reference trajectories of the inertial position and the yaw angle.
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Notes
- 1.
More details about linearization may be found in Sect. 5.8.
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Raptis, I.A., Valavanis, K.P. (2011). Linear Tracking Controller Design for Small-Scale Unmanned Helicopters. In: Linear and Nonlinear Control of Small-Scale Unmanned Helicopters. Intelligent Systems, Control and Automation: Science and Engineering, vol 45. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-0023-9_6
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