Full state control of a Fury X-Cell unmanned helicopter

[摘要] This thesis describes the successful development of an autopilot for an unmannedradio controlled helicopter. It presents a non-linear helicopter model. An adaptivelinearised model is derived and used to design a controller. The adaptive fullstate controller is tested in various ways, including two aerobatic manoeuvres. Anumber of analyses are performed on the controller, including its robustness to parameterchanges, noisy estimates, wind and processing power. The controller iscompared with a non-adaptive counterpart, which leads to the conception, designand analysis of a much improved control structure. Practical flight test results arepresented and analysed.In some instances available literature was reworked and re-derived to producea genericmodel-controller package that can easily be adapted for helicopters of anymake, model and size.

[发布机构] Stellenbosch University