Nonlinear Intelligent Flight Control for Quadrotor Unmanned Helicopter

摘要

Quadrotor unmanned helicopter is a new popular research platform for unmanned aerial vehicle(UAV),thanks to its simple construction,vertical take-off and landing(VTOL)capability.Here a nonlinear intelligent flight control system is developed for quadrotor unmanned helicopter,including trajectory control loop composed of co-controller and state estimator,and attitude control loop composed of brain emotional learning(BEL)intelligent controller.BEL intelligent controller based on mammalian middle brain is characterized as self-learning capability,model-free and robustness.Simulation results of a small quadrotor unmanned helicopter show that the BEL intelligent controller-based flight control system has faster dynamical responses with higher precision than the traditional controller-based system.