Multi-layer Flight Control Synthesis and Analysis of a Small.pdfVIP

Multi-layer Flight Control Synthesis and Analysis of a Small.pdf

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Multi-layer Flight Control Synthesis and Analysis of a Small-scale UAV Helicopter ∗ † ‡ ‡ ‡ Ali Karimoddini , Guowei Cai , Ben M. Chen , Hai Lin and Tong H. Lee ∗Graduate School for Integrative Sciences and Engineering, and Department of Electrical and Computer Engineering National University of Singapore Email: karimoddini@.sg †Temasek Laboratories, National University of Singapore Email: cai guowei@.sg. ‡Department of Electrical and Computer Engineering National University of Singapore, Singapore, 117576 Email: {bmchen, elelh, eleleeth}@.sg. Abstract—In this paper, we present a systematic procedure first compensate for the nonlinear terms, and then, we use a for the design of a controller for an autonomous helicopter. The proportional controller (P-controller) that enables the system studied model of the helicopter is a semi-linearized model, which to follow the desired path. includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which The rest of this paper is organized as follows. In Section II, consists of two layers: the inner-loop controller that covers the the structure and the model of the NUS UAV are described. linear parts of the model and the outer-loop controller that handles It is a decoupled system which

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