Please use this identifier to cite or link to this item: https://doi.org/10.1109/WCICA.2012.6358369
Title: Robust flight control system design for an indoor miniature coaxial helicopter
Authors: Wang, B.
Wang, F.
Chen, B.M. 
Lee, T.H. 
Keywords: Flight Control
Robust Control
UAV
Issue Date: 2012
Source: Wang, B.,Wang, F.,Chen, B.M.,Lee, T.H. (2012). Robust flight control system design for an indoor miniature coaxial helicopter. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) : 2918-2924. ScholarBank@NUS Repository. https://doi.org/10.1109/WCICA.2012.6358369
Abstract: A complete flight control scheme with detailed design methodology is proposed for an indoor miniature coaxial helicopter with fixed collective pitch. To avoid system complexity and the problem of minimum phase control, the helicopter dynamic model is decomposed into two cascaded subsystems: an inner one for attitude and heading control and the outer one for trajectory control. H-infinity control technique and robust and perfect tracking method are used to respectively design the inner- and outer-loop controllers. By using the so-called asymptotic time-scale and eigenstructure assignment approach, the design process becomes very systematic and effective. The performance of the autonomous flight control system has been successfully validated in actual flight tests. © 2012 IEEE.
Source Title: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
URI: http://scholarbank.nus.edu.sg/handle/10635/71675
ISBN: 9781467313988
DOI: 10.1109/WCICA.2012.6358369
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