Modelling and Control of Robotic Helicopters
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Robotic helicopters are unmanned helicopters (without onboard pilot) with autonomous functionalities, including, at least, autonomous control. Usually there are outer and inner loops to control helicopters. The conventional helicopters have a main rotor to generate the lift and the thrust that counteracts aerodynamic drag and a tail rotor to compensate the torque of the main rotor. The outer loop controls the translational dynamic calculating the translational accelerations to reduce the deviations in positioning errors. These accelerations are converted into the desired orientation for the main rotor plane and the desired lifting force. The inner loop computes the torques that should be generated to control the rotational dynamics maintaining the desired orientation angles. A third control loop is used to control the yaw angle by...
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