Yaw Control of an Unmanned Helicopter with Feedback Linearization

Morteza Mohammadzahei, Hamidreza Ziaiefar, Mojtaba Ghodsi, Issam Bait Bahadur

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538693681
DOIs
Publication statusPublished - Mar 4 2019
Event1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019 - Muscat, Oman
Duration: Feb 5 2019Feb 7 2019

Publication series

Name2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019

Conference

Conference1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019
CountryOman
CityMuscat
Period2/5/192/7/19

Fingerprint

Feedback linearization
Helicopters
Dynamical systems
Differential equations
Sampling
Derivatives
Controllers

Keywords

  • Feedback Linearization
  • Proportional Derivative
  • Unmanned helicopters
  • Yaw Angle

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Mohammadzahei, M., Ziaiefar, H., Ghodsi, M., & Bait Bahadur, I. (2019). Yaw Control of an Unmanned Helicopter with Feedback Linearization. In 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019 [8658342] (2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/UVS.2019.8658342

Yaw Control of an Unmanned Helicopter with Feedback Linearization. / Mohammadzahei, Morteza; Ziaiefar, Hamidreza; Ghodsi, Mojtaba; Bait Bahadur, Issam.

2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8658342 (2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mohammadzahei, M, Ziaiefar, H, Ghodsi, M & Bait Bahadur, I 2019, Yaw Control of an Unmanned Helicopter with Feedback Linearization. in 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019., 8658342, 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019, Institute of Electrical and Electronics Engineers Inc., 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019, Muscat, Oman, 2/5/19. https://doi.org/10.1109/UVS.2019.8658342
Mohammadzahei M, Ziaiefar H, Ghodsi M, Bait Bahadur I. Yaw Control of an Unmanned Helicopter with Feedback Linearization. In 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8658342. (2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019). https://doi.org/10.1109/UVS.2019.8658342
Mohammadzahei, Morteza ; Ziaiefar, Hamidreza ; Ghodsi, Mojtaba ; Bait Bahadur, Issam. / Yaw Control of an Unmanned Helicopter with Feedback Linearization. 2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (2019 1st International Conference on Unmanned Vehicle Systems-Oman, UVS 2019).
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