Journal
AUTOMATICA
Volume 45, Issue 10, Pages 2333-2338Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2009.06.016
Keywords
Unmanned aerial vehicle; Helicopter systems; Autonomous flight control; Nonlinear control
Funding
- Defence Science and Technology Agency (DSTA) of Singapore
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In this paper, we present the design and implementation of an autonomous flight control law for a small-scale unmanned aerial vehicle (UAV) helicopter. The approach is decentralized in nature by incorporating a newly developed nonlinear control technique, namely the composite nonlinear feedback control, together with dynamic inversion. The overall control law consists of three hierarchical layers, namely, the kernel control, command generator and flight scheduling, and is implemented and verified in flight tests on the actual UAV helicopter. The flight test results demonstrate that the UAV helicopter is capable of carrying out complicated flight missions autonomously. (C) 2009 Elsevier Ltd. All rights reserved.
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