Nonlinear Control Techniques for Regulating theAltitude of a Radio/Control Helicopter

摘要

This article approaches the problem of obtaining adequate nonlinear control laws to regulate the vertical position of a Radio/Control helicopter on a platform. Two different approaches are considered: the first uses singular perturbation formulation for the three-time scale helicopter model, while the second approach solves the problem using a suboptimal control techniques (SDRE and 0–D approximation). All proposed control laws achieve the desired altitudes with comparable control efforts, but the distinct nature of the methods open new ways of approaching nonlinear control problems by taking advantage of the best properties of each control methodology regarding real-time implementation.