There has been significant interest for designing flight
controllers for small-scale unmanned helicopters. Such helicopters
preserve all the physical attributes of their full-scale
counterparts, being at the same time more agile and dexterous. This
book presents a comprehensive and well justified analysis for
designing flight controllers for small-scale unmanned helicopters
guarantying flight stability and tracking accuracy. The design of
the flight controller is a critical and integral part for
developing an autonomous helicopter platform. Helicopters are
underactuated, highly nonlinear systems with significant dynamic
coupling that needs to be considered and accounted for during
controller design and implementation. Most reliable mathematical
tools for analysis of control systems relate to modern control
theory. Modern control techniques are model-based since the
controller architecture depends on the dynamic representation of
the system to be controlled. Therefore, the flight controller
design problem is tightly connected with the helicopter
modeling.
This book provides a step-by-step methodology for designing,
evaluating and implementing efficient flight controllers for
small-scale helicopters. Design issues that are analytically
covered include:
An illustrative presentation of both linear and nonlinear models
of ordinary differential equations representing the helicopter
dynamics. A detailed presentation of the helicopter equations of
motion is given for the derivation of both model types. In
addition, an insightful presentation of the main rotor's mechanism,
aerodynamics and dynamics is also provided. Both model types are of
low complexity, physically meaningful and capable of encapsulating
the dynamic behavior of a large class of small-scale
helicopters.
An illustrative and rigorous derivation of mathematical control
algorithms based on both the linear and nonlinear representation of
the helicopter dynamics. Flight controller designs guarantee that
the tracking objectives of the helicopter's inertial position (or
velocity) and heading are achieved. Each controller is carefully
constructed by considering the small-scale helicopter's physical
flight capabilities. Concepts of advanced stability analysis are
used to improve the efficiency and reduce the complexity of the
flight control system. Controller designs are derived in both
continuous time and discrete time covering discretization issues,
which emerge from the implementation of the control algorithm using
microprocessors.
Presentation of the most powerful, practical and efficient
methods for extracting the helicopter model parameters based on
input/output responses, collected by the measurement instruments.
This topic is of particular importance for real-life implementation
of the control algorithms.
This book is suitable for students and researches interested in
the development and the mathematical derivation of flight
controllers for small-scale helicopters. Background knowledge in
modern control is required."
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