Please use this identifier to cite or link to this item: https://doi.org/10.1109/TIE.2008.926780
Title: Modeling and control of the yaw channel of a UAV helicopter
Authors: Cai, G. 
Chen, B.M. 
Peng, K. 
Dong, M. 
Lee, T.H. 
Keywords: Aircraft control
Modeling
Nonlinear control
Unmanned-aerial-vehicle (UAV) helicopters
Issue Date: 2008
Source: Cai, G., Chen, B.M., Peng, K., Dong, M., Lee, T.H. (2008). Modeling and control of the yaw channel of a UAV helicopter. IEEE Transactions on Industrial Electronics 55 (9) : 3426-3434. ScholarBank@NUS Repository. https://doi.org/10.1109/TIE.2008.926780
Abstract: We present in this paper the modeling and flight-control-system design for the yaw channel of an unmanned-aerial-vehicle (UAV) helicopter using a newly developed composite nonlinear feedback (CNF)-control technique. The CNF-control method has been proven to be capable of yielding a fast transient response with no or very minimal overshoot in tracking a specific target. From the actual flight tests on our UAV helicopter, it has been found that the commonly used yaw dynamical model for the UAV helicopter proposed in the literature is very rough and inaccurate, which might cause the helicopter to shake severely in certain flight conditions. This motivates us to first obtain a more accurate model for the yaw channel of our UAV helicopter. The CNF-control method is then utilized to design an efficient control law, which gives excellent overall performance. In particular, our design has achieved a Level 1 performance according to the standards set for military rotorcraft. The results are verified through actual flight tests. © 2008 IEEE.
Source Title: IEEE Transactions on Industrial Electronics
URI: http://scholarbank.nus.edu.sg/handle/10635/56665
ISSN: 02780046
DOI: 10.1109/TIE.2008.926780
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