Yaw Control of Unmanned Helicopter Based on Feedback Linearization

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.