Optimal Control of Full Envelope Helicopter

摘要

Controlling rotary wing platforms, especially helicopters, is a difficult problem because of the nonlinearity of the structure and strong coupled motion dynamics. In this paper, linear quadratic regulator method is used to control the trajectory and mission paths of the autonomous helicopter. Nonlinear motion dynamics is trimmed and linearized about certain operating points and linear model is obtained by Taylor's expansion formula. This model is integrated into MATLAB/Simulink software. By using LQR methodology the attitude of the autonomous Puma helicopter is controlled and two simulations are realized. The results show that this approach can be effectively applied.