Nonlinear Hierarchical Flight Controller for Unmanned Rotorcraft: Design, Stability, and Experiments

摘要

ALTHOUGH the research on unmanned aerial vehicles (UAVs)ngoes back to the last decade, the UAV control has a richnliterature with different control techniques. Conventional approachesnto UAV flight control involve dynamics linearization about a set ofnpreselected equilibrium conditions or trim points. Then, many linearncontrol techniques, such as proportional integral derivative or linearnquadratic regulator controllers, can be applied. However, these approachesnsuffer from performance degradation when the aircraftnmoves away from a design trim point. Hence, gain scheduling isnusually required to obtain acceptable performance. The main drawbacknof this approach is the severe tradeoff between control performancenand the number of required trim points.