Helicopter flight controller design using nonlinear transformation

摘要

Synthesis of a helicopter trajectory controller is described in this study using nonlinear transformation and singular perturbation theories. A non-iterative control law in the slow time scale has been developed for the inverse nonlinear transformation. The problem of modeling errors in the system with nonlinear inverse dynamics theory is investigated extensively. The errors examined include not only high frequency uncertainties such as neglect of actuator dynamics, but low frequency ones like aerodynamic modeling errors. The results of simulation studies show that the control system could track Commanded values under the presence of modeling errors and disturbances.