Please use this identifier to cite or link to this item: https://doi.org/10.1109/RAMECH.2010.5513171
Title: Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter
Authors: Karimoddini, A.
Cai, G. 
Chen, B.M. 
Lin, H. 
Lee, T.H. 
Keywords: Hierarchical control
Inner-loop controller
Outer-loop controller
Unmanned aerial vehicles
Issue Date: 2010
Source: Karimoddini, A.,Cai, G.,Chen, B.M.,Lin, H.,Lee, T.H. (2010). Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter. 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 : 321-326. ScholarBank@NUS Repository. https://doi.org/10.1109/RAMECH.2010.5513171
Abstract: In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model and the outer-loop controller that handles the nonlinear parts. The inner-loop controller aims at the attitude control of the helicopter and the outer-loop is responsible for its position control. The performance of the designed controller is demonstrated through the simulation and actual flight tests in the hovering situation and the path-tracking mode. ©2010 IEEE.
Source Title: 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/51216
ISBN: 9781424465033
DOI: 10.1109/RAMECH.2010.5513171
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