In this paper the design process of a fuzzy logic based controller for a coaxial micro helicopter is presented. The developed controller for altitude, attitude, and position control is tested through simulations on an identified non-linear model of the helicopter. The robustness properties of the controller to parameter variations of the model is assessed, as well as, its ability to reject exte...

Helicopters have highly stochastic, nonlinear, dynamics, and autonomous helicopter flight is widely regarded to be a challenging control problem. As helicopters are highly unstable at low speeds, it is particularly difficult to design controllers for low speed aerobatic maneuvers. In this paper, we describe a successful application of reinforcement learning to designing a controller for sustain...

—In this paper an appropriate four rotors helicopter nonlinear dynamic model for identi cation and control law synthesis is obtained via modelization procedure where several phenomena are included like gyroscopic effects and aerodynamic friction. The numerical simulations of the model obtained show that the control law stabilizes the four rotors helicopter with good tracking.

In this paper modelling and identification of a laboratory helicopter with the final aim to design a control system is presented. The CE 150 made by Humusoft is a laboratory helicopter designed for studying system dynamics and control engineering principles. First, the helicopter set-up is depicted. Next, theoretical and empyric modelling is systematically described. Identification of the neces...

in this research, the steady-state flow filed around a 3d body and rotor configuration of the robin helicopter is simulated. the rotor is modeled by an actuator disk. for this purpose, an annular computational domain replaces the rotor and some modeled source terms are added to the momentum equations. this modeling of rotor considerably speed up computational time. the flow field over this heli...

Unmanned small autonomous helicopters can perform aggressive maneuvers that will be useful for operations in challenging conditions. This paper presents an analysis of the pilot’s execution of aggressive maneuvers from flight test data, collected on an instrumented small-scale acrobatic helicopter. A full-envelope nonlinear dynamic model of the helicopter was developed and validated for aggress...

This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC) for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI) is introduced as a bijective function. The proposed DI is used to interconnect the h...

The 3 degree of freedom (3-DOF) helicopter system is a typical higher-order times, instability, multi-variable, nonlinear and strong coupling control system. This paper presents the analysis of the mathematical model and the basic principle of PID control and fuzzy PID control, which are based on 3-DOF helicopter systems. In allusion to balance control of 3-DOF helicopter system, PID controller...

A model-free "teaching by showing" methodology is developed to train a fuzzy-neural controller for an autonomous robot helicopter. The controller is generated and tuned using training data gathered while a teacher operates the helicopter. A hierarchical behavior-based control architecture is used, with each behavior implemented as a hybrid fuzzy logic controller (FLC) and general regression neu...

We present an Unmanned Aviation Vehicle-based Photogrammetric mapping system in this paper. This work is part of a project monitoring of unpaved road condition using remote sensing and other technology, sponsored by the US Department of Transportation. The system is based on a low cost model helicopter equipped with a GPS/IMU and a geomagnetic sensor to detect the position, attitude and velocit...