WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 12, 2013
The Attitude Control of the Four-Rotor Unmanned Helicopter Based on Feedback Linearization Control
Authors: , , ,
Abstract: This work is a contribution to stable attitudes control of the small scale four-rotor helicopter. The small scale four-rotor helicopter is a multi-variable strong coupling nonlinear system, especially its complicated attitude control. In order to control the attitude of the helicopter, the deliberate dynamics and kinematics of four-rotor helicopter attitude model was established. Based on the model derived, the feedback linearization method was utilized to decouple model and control the system. According to the characteristics of the attitude in the helicopter’s whole motion process, two control tasks were numerically performed, and the corresponding simulation results show that the proposed control strategy behaves remarkably well. This work also built the foundation for the position control of the helicopter.