论文信息 - Synthesis of a helicopter full-authority controller

Synthesis of a helicopter full-authority controller

Nonlinear transformation theory is used to develop a full-authority trajectory controller for an autonomous helicopter. The transformation is simplified by the use of a forced singular perturbation. Overall system dynamics are separated into fast and slow reduced-order systems, each with nonlinear control. An analytical solution to inverting the slow time-scale dynamics is found through the inverse kinematics problem. The controller's performance is evaluated in terms of the controller's time-scale separation and uncertainties in the plant parameters.

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