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This paper summarizes design of a high-bandwidth nonlinear adaptive attitude command system for an unmanned helicopter test bed, and presents an evaluation of the controller in both nonlinear simulation and flight test. The attitude command system features a dynamic inversion control law augmented by an on-line neural network. The design is cast in an output feedback setting. The inverting control law is based on a simple linear model of the helicopter and its actuators at the hover condition. An error observer-based method for output feedback design uses either a proportional plus derivative, or a proportional, integral and derivative form for the linear compensator.
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