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

作     者：王赓 Kondak Konstantin Marek Musial 盛焕烨 吕恬生 Hommel Günter 

作者机构：Dept. of Computer Sci. & Eng. Shanghai Jiaotong Univ. Dept. of Computer Sci. & Electronics Technische Univ. Eng. Training Center Shanghai Jiaotong Univ. 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2007年第12卷第6期

页      面：744-752页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0811[工学-控制科学与工程] 

基　　金：The National Natural Science Foundation of China(No60475039) 

主　　题：unmanned helicopter dynamical model flight control unmanned aerial vehicle (UAV) 

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.