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In the present paper,for a small-scale unmanned helicopter,the nonlinear controllers with guaranteeing stability of the controlled system are designed.The dynamics of the small-scale unmanned helicopter can be divided into slower outer-loop and faster inner-loop,thus exhibiting hierarchical structure.Attitude angle and position of the small-scale unmanned helicopter separately belongs to the inner-loop and the outer-loop.The backstepping control strategy is respectively applied in the inner-loop and the outer-loop to obtain the the nonlinear controllers.Furthermore,stability analysis of orientation dynamics and flapping dynamics is presented.The comparison between linear and nonlinear control methods are discussed in the simulation model to show the effectiveness of the proposed method.