This paper presents a new nonlinear path following control method for unmanned helicopter. The algorithm of the line-of-sight guidance law previously extended by Park is improved to address the control problems of the unmanned helicopter creatively. Aiming at the issues that the traditional PID control methods cannot obtain ideal nonlinear control effects and performance of anti-disturbance, a new nonlinear control method is designed. First of all, on the basis of the line-of-sight guidance law, the new control law adopting dual-loop structure, including an outer guidance loop and an inner loop for attitude control, is implemented in unmanned helicopter. To provide a number of key parameters for path following, the calculation methods are proposed. Numerical simulations are performed to verify the effectiveness and superiority of the proposed guidance law.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Nonlinear path following for unmanned helicopter


    Contributors:
    Liu, Bo (author) / Meng, Zhijun (author) / Zhou, Yaoming (author)


    Publication date :

    2017-07-01


    Size :

    1005475 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Path following control of unmanned quadrotor helicopter with obstacle avoidance capability

    Liu, Zhixiang / Ciarletta, Laurent / Yuan, Chi et al. | IEEE | 2017


    Unmanned helicopter propeller hub and unmanned helicopter

    LIU PEIZHI / ZHAO XIAOCHUAN / MA YIMIN et al. | European Patent Office | 2020

    Free access


    UNMANNED HELICOPTER

    OHNISHI SHINTARO / ISHIZAKI TSUYOSHI / HIRAMI IKUHIKO et al. | European Patent Office | 2015

    Free access

    Unmanned helicopter

    DING YI / LIU YANG / XIE XIAOHU | European Patent Office | 2015

    Free access