Research on Control Algorithm for an Unmanned Helicopter Based on Global Asymptotic Stability

Abstract

Taking into account the different response speed of each part of the unmanned helicopter(UMH), established a two-timescale nonlinear model which contained the flapping and rotational dynamics. To overcome the problem that a number of terms cant be accounted in the state-dependent Riccati equation (SDRE) design, we employed a nonlinear feedforward compensator that is designed to match the vehicle response to the model used in the SDRE design. We improved SDRE technique and set up a control algorithm can guarantee the global asymptotic stability of the system. Proof was given. Numerical simulation results were listed to illustrate effectiveness of the algorithm.