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By analyzing the physical and aerodynamic principles, the vertical dynamics of a mini unmanned helicopter is modeled, and from which the analytic form of linearized model is derived out. A vertical velocity controller is designed based on this model, which scheduled by a multilevel finite state machine (FSM). In the addition, an effective autonomous landing programming method with effectively utilizing...
Hovering performance of unmanned helicopter is of key importance in flight.This paper presents an autonomous control system to achieve the excellent hovering performance for a miniature unmanned helicopter. First, the response data of system is collected during special flight test and a linear time-invariant model is extracted by frequency identification technique.Then, the control system is designed...
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