This paper presents a control system design method for an autonomous helicopter using the Particle Swarm Optimization (PSO) method. In this paper, the nonlinear dynamic model of a miniature helicopter is directly used to design a control system without linearization process. The nonlinear dynamics of model helicopter is represented by sixteen state variables including flapping dynamics, engine ...

Nowadays, high levels of agility, maneuverability and capability of operating in reduced visual environments and adverse weather conditions are the new trends of helicopter design. Helicopter flight control systems should make these performance requirements achievable by improving tracking performance and disturbance rejection capability. Robustness is one of the critical issues which must be c...

This paper considers two-input, two-output nonlinear adaptive model following control of a 3-DOF (degree-of-freedom) tandem rotor model helicopter. The control performance is studied by real time implementation of the control algorithms in an actual helicopter testbed. Since the decoupling matrix of the model helicopter is singular, the system is not decouplable by static state feedback, and it...

Over last 10-years period there has been just one helicopter accident (with no fatalities) in the Norwegian sector of helicopter offshore operations. In this case, safety monitoring cannot be based on the absence of accidents. The main objective of this paper is to suggest a combination of leading and lagging indicators to monitor safety performance for helicopter offshore operations. An approa...

The main performance characteristics of a helicopter is its fuel consumption. This paper reports the current state in an ongoing project seeking a fast and approximative implementation of mathematical models for helicopter performance predictions, primarily in terms of fuel consumption. The model is limited to a subset of the normal operation modes, only including hover, climb and forward. Also...

This paper deals with the problem of development of the mathematical model of a micro coaxial helicopter using hybrid method of analytical and experimental approach. An analytical mathematical model of micro coaxial helicopter has been derived with the consideration of dynamics of rotating parts to the rigid body dynamics. Pre-flight simulation was carried out based on the derived mathematical ...

Control of a helicopter is complex, and includes cross coupling of forces and balancing of forces. While sophisticated and advanced controllers can achieve stable control, good mechanical design can reduce the problems and hence make tuning the control loops easier. In this paper, we argue that a coaxial-rotor design solves a number of problems that make control of a four-rotor helicopter diffi...

This paper describes the different phases of realizing and validating a helicopter model for the MPI CyberMotion Simulator (CMS). The considered helicopter is a UH-60 Black Hawk. The helicopter model was developed based on equations and parameters available in literature. First, the validity of the model was assessed by performing tests based on ADS-33E-PRF criteria using closed loop controller...

The establishment of global helicopter linear model is very precious and useful for the design of the linear control laws, since it is never afforded in the published literatures. In the first principle approach, the mathematical model was developed using basic helicopter theory accounting for particular characteristic of the miniature helicopter. No formal system identification procedures are ...