Title: Modelling and control system design of a small-scale unmanned helicopter

Authors: Jin-hua Wang, Zhi-qiang Bai, Pei-zhi Liu

Addresses: Beijing Institute of Computer Application Technology, Beijing, 100089, China. ' Beijing Institute of Computer Application Technology, Beijing, 100089, China. ' Beijing Institute of Computer Application Technology, Beijing, 100089, China

Abstract: This paper investigates the modelling and control system design of a small-scale unmanned helicopter. We employ a system identification method to get the attitude angular velocity transfer function of a helicopter, and apply a nested PID approach to design the control system, which can be used to control the attitude and position of a helicopter. Experimental results show that the identified model is very accurate and the system designed based on our model can manipulate the attitude and position of a helicopter quite well.

Keywords: unmanned helicopters; helicopter modelling; helicopter control; system identification; attitude angular velocity transfer; nested PID.

DOI: 10.1504/IJMIC.2011.037823

International Journal of Modelling, Identification and Control, 2011 Vol.12 No.1/2, pp.12 - 16

Published online: 31 Dec 2010 *

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