Synthesis of a helicopter nonlinear flight controller using approximate model inversion

This paper considers synthesis of a helicopter full authority flight controller using an approximate inversion of the nonlinear model of the vehicle. Based on the natural time scale separation between position and attitude dynamics of the vehicle, the vehicle attitudes are treated as pseudo-command variables. In order to simplify the controller, approximations to the body axes forces are used in the controller calculations. The first approximation involves neglecting the cyclic and pedal control force terms, and the second approximation involves neglecting the body x- and y-axis force components in the controller calculations. The impact of these approximations on the performance of the closed-loop system is evaluated through nonlinear simulation of the Apache helicopter using typical command maneuvers.

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