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|Title:||Comprehensive nonlinear modeling of a miniature unmanned helicopter||Authors:||Cai, G.
|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. https://doi.org/10.4050/JAHS.57.012004||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||URI:||http://scholarbank.nus.edu.sg/handle/10635/51126||ISSN:||00028711||DOI:||10.4050/JAHS.57.012004|
|Appears in Collections:||Staff Publications|
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