TY - GEN
T1 - Yaw Control of an Unmanned Helicopter with Feedback Linearization
AU - Mohammadzahei, Morteza
AU - Ziaiefar, Hamidreza
AU - Ghodsi, Mojtaba
AU - Bahadur, Issam Bait
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/3/4
Y1 - 2019/3/4
N2 - In this paper, a control law is presented to regulate yaw angle of an unmanned helicopter. The proposed law has been designed to control yaw angle at turning manoeuvre, where the helicopter centroid motion and pitch rotational speed are almost zero. Governing differential equations of the helicopter at turning manoeuvre are nonlinear and coupled. Feedback linearization was employed to compensate the nonlinear part of system dynamics, and a proportional derivative (PD) controller was designed to improve the response. The designed control law was tested in realistic simulations considering reasonable/implementable noises, disturabnces, delays and sampling frequencies. The results demonstrate excellent performance of the proposed control law.
AB - In this paper, a control law is presented to regulate yaw angle of an unmanned helicopter. The proposed law has been designed to control yaw angle at turning manoeuvre, where the helicopter centroid motion and pitch rotational speed are almost zero. Governing differential equations of the helicopter at turning manoeuvre are nonlinear and coupled. Feedback linearization was employed to compensate the nonlinear part of system dynamics, and a proportional derivative (PD) controller was designed to improve the response. The designed control law was tested in realistic simulations considering reasonable/implementable noises, disturabnces, delays and sampling frequencies. The results demonstrate excellent performance of the proposed control law.
KW - Feedback Linearization
KW - Proportional Derivative
KW - Unmanned helicopters
KW - Yaw Angle
UR - http://www.scopus.com/inward/record.url?scp=85063965755&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063965755&partnerID=8YFLogxK
U2 - 10.1109/UVS.2019.8658342
DO - 10.1109/UVS.2019.8658342
M3 - Conference contribution
AN - SCOPUS:85063965755
T3 - 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019
BT - 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019
Y2 - 5 February 2019 through 7 February 2019
ER -