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Title: Comprehensive nonlinear modeling of a miniature unmanned helicopter
Authors: Cai, G. 
Chen, B.M. 
Lee, T.H. 
Lum, K.-Y.
Issue Date: Jan-2012
Citation: Cai, G., Chen, B.M., Lee, T.H., Lum, K.-Y. (2012-01). Comprehensive nonlinear modeling of a miniature unmanned helicopter. Journal of the American Helicopter Society 57 (1) : -. ScholarBank@NUS Repository.
Abstract: A nonlinear flight dynamics model that can be adopted by small-scale unmanned aerial vehicle (UAV) helicopters is presented. To minimize structural complexity, the proposed nonlinear model contains only four essential components, i.e., kinematics, rigid-body dynamics, main rotor flapping dynamics, and yaw rate feedback controller dynamics. A five-step parameter determination procedure is proposed to estimate the unknown parameters of the flight dynamics model. Based on the time-domain evaluations conducted, the nonlinear model is proven to be accurate in capturing the flight dynamics of our UAV helicopter platform over a wide envelope. © 2012 The American Helicopter Society.
Source Title: Journal of the American Helicopter Society
ISSN: 00028711
DOI: 10.4050/JAHS.57.012004
Appears in Collections:Staff Publications

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