Feedback linearization of the nonlinear model of a small-scale helicopter

摘要

In order to design a nonlinear controller for small-scale autonomous helicopters,the dynamic characteristics of a model helicopter are investigated,and an integrated nonlinear model of a small-scale helicopter for hovering control is presented.It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear system using the dynamic feedback linearization technique.Finally,simulations are carried out to validate the nonlinear controller.