In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and sm...

There is a growing interest in the modeling and control of model helicopters using nonlinear dynamic models and nonlinear control. Application of a new intelligent control approach called Brain Emotional Learning Based Intelligent Controller (BELBIC) to design autopilot for an autonomous helicopter is addressed in this paper. This controller is applied to a nonlinear model of a helicopter. This...

The purpose of this paper is concerned with the mathematical model development issues, necessary for a better prediction of dynamic responses of articulated rotor helicopters. The methodology is laid out based on mathematical model development for an articulated rotor helicopters, using the theories of aeroelastisity, finite element and the time domain compressible unsteady aerodynamics. The he...

In this paper, a neuro-fuzzy system identification using measured input and output data are carried out. A model-free learning from “examples” methodology is developed to train a neuro-fuzzy model of a smallsize helicopter. The helicopter model is obtained and tuned using training data gathered while a teacher operates the helicopter. Behavior-based model architecture is used, with each behavio...

Autonomous helicopter flight represents a challenging control problem, with complex, noisy, dynamics. In this paper, we describe a successful application of reinforcement learning to autonomous helicopter flight. We first fit a stochastic, nonlinear model of the helicopter dynamics. We then use the model to learn to hover in place, and to fly a number of maneuvers taken from an RC helicopter co...

In this research, an automatic control system is designed for landing of a small helicopter on a 4 DOF moving platform. The platform has three translational and one directional degree of freedom. The controller design approach is based on development of helicopter nonlinear dynamic model into the SDC (State Dependent Coefficient) form and real time solving of state dependent Riccati equation (S...

SUMMARY This work first describes the development of a real-time flight simulator for an R-50 experimental model helicopter. A mathematical model of the helicopter is developed to represent the dynamics of the real system. This simulation model is used to investigate and analyze the helicopter dynamics in a hovering flight condition. The importance of a control rotor used for stability augmenta...

at the beginning of this paper, design and manufacturing stages of the 3 degree of freedom test stand for a remotely piloted helicopter is described, in which the helicopter is able to rotate about its three primary accesses. in the next parts the dynamical model of the rph in the yaw channel is presented and lateral transfer function of rph (yaw channel) is extracted by performing several test...

This paper describes the experiment for learning and investigation of the helicopter laboratory model static and dynamic characteristics. Helicopter model is not the free flying one, as it has the two degrees of freedom – up / down movement and rotation with respect to vertical axis of the main propeller. The two basic different kinds of experiments with the helicopter model are possible. In th...

Soldier-portable UAVs enhance combat situational awareness by providing an over-thehorizon surveillance platform. This advantage can be multiplied by using multiple microhelicopters (< 20 g, < 20 cm) that operate cooperatively to obtain synoptic vantage points. Cooperative control of multiple helicopters using theoretically justified control laws requires a mathematical model of micro-helicopte...