Trajectory linearization control for a miniature unmanned helicopter

摘要

Trajectory linearization control (TLC) approach is applied to design a nonlinear trajectory tracking controller for a miniature unmanned helicopter. The controller is based on nonlinear model derived from Newton-Euler equations, with collective and cyclic pitches being regarded as actual controls. Via model simplifications, the nonlinear helicopter model can be transformed into a cascaded form including four subsystems. Corresponding with the simplified cascaded structure, the proposed controller is constructed by synthesizing TLC designs for subsystems. Each of them includes designs of a pseudo-inversion and an error regulator. A summarized TLC algorithm for the unmanned helicopter is listed briefly after the detailed controller design process. Simulation results are provided to demonstrate performances of the closed-loop system.