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| Yaw Control of Unmanned Helicopter Based on Feedback Linearization |
| JIANG Zhe1,2, HE Yu-qing1,2, ZHAO Xin-gang1,2, HAN Jian-da1, WANG Yue-chao1 |
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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Abstract This paper discusses adaptive yaw control of small-size unmanned helicopter.By solving the derivative of nonlinear function,the original system is extended to a new system with a pseudostate variable.This approach doesn't need to solve the inverse of nonlinear function and reduces the calculation cost.Stability of the proposed algorithm is proved,and simulation results on the dynamic model of a real helicopter-on-arm testbed demonstrate the effectiveness of the proposed algorithm.
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Received: 16 August 2006
Published: 15 May 2007
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