Variable Gains Control For Unmanned Helicopter Trajectory Tracking

This paper proposes a trajectory tracking flight controller that switches autonomously control gains according to different flight modes and speeds for the Ultrasport 496 Unmanned Helicopter (UH). Unlike the helicopter model that normally works in a near-hover state, the proposed model is a complete nonlinear one for simulation that includes rotor aerodynamics and airflow influence. It can reproduce the long-time flight of a helicopter under only one complete model in the presence of wind without the need for different model state switching, providing a continuous basis for accident analysis. Unlike all-digital simulation, hardware in the loop (HIL) simulations can completely simulate the real flight process. and it has important engineering significance for tuning the control gains and verifying the control logic before a real flight. The comparison of simulation and real flight results shows that the control algorithm has reliable control performance for trajectory tracking control of the unmanned helicopters.