Model Reference Adaptive Control (MRAC) is consists of a reference model, a plant model, and adaptive law. It is made to follow the target system to the reference model by fixed gain. As study example, Yang developed an adaptive control for SISO state space system[1]. Yang’s method[1] was not discussed about the performance of the reference model. MRAC depends on performance of the reference mo...

This paper deals with model predictive control (MPC) approach for a 2 DOF (degree of freedom) helicopter. The main objective is to stabilize beam of the 2DOF helicopter with respect to pitch and yaw angles. Development of controller for 2DOF helicopter is challenging because of its coupling effects between two axes and also due to its highly nonlinear characteristics. An accurate model of the s...

Helicopter aviation is a difficult task that requires simultaneous manipulation of several controls in order to achieve a desired movement. Development of knowledge and skills are required for a person to be able to safely and efficiently navigate a helicopter. Therefore, the question was raised on whether there is a possibility to develop a robust agent that will act as an intermediate between...

Abstract: Development of a reliable high-performance helicopter-based unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This report describes the process and results of the dynamic modeling of a model-scale unmanned helicopter (Yamaha R-50 with 10 ft rotor diameter) using system identification. A complete dynamic model was derived for both hover and...

We propose the use of a model helicopter to emulate the landing dynamics of a spacecraft. Our controller accepts thruster inputs (like those on a spacecraft) and converts them into appropriate helicopter stick controls such that the resulting trajectory of the helicopter is close to the trajectory that would have been achieved by simply providing the same thruster inputs to a spacecraft. The ap...

This paper presents a new mathematical model for a model-scale helicopter. Working from first principles and basic aerodynamics, the equations of motion for full six degree-of-freedom motion are derived. The control inputs considered are the four pilot commands from the radio transmitter: roll, pitch, yaw, and thrust. The model helicopter has a fast time-domain response due to its small size, a...

In order to better research the role helicopter played in the earthquake rescue, a helicopter earthquake rescue mission modeling method based on multi-agent was proposed. The elements of the earthquake environment modeling were described. Typical helicopter rescue missions in earthquake relief were divided into three basic types, and the mission flow was carded. The division and function of age...

Abstract: This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-b...

Autonomous helicopter flight is widely regarded to be a highly challenging control problem. This paper presents the first successful autonomous completion on a real RC helicopter of the following four aerobatic maneuvers: forward flip and sideways roll at low speed, tail-in funnel, and nose-in funnel. Our experimental results significantly extend the state of the art in autonomous helicopter fl...

The contribution is focused on helicopter elevation control. The experiments are performed on helicopter model, which is significantly nonlinear plant and it simulates in some simplified way dynamics of real helicopter. There is derived new way to control it which uses piecewise-linear neural model. As it is shown at the end of the paper, this new control algorithm brings decent performance imp...