Helicopter flight controller design using nonlinear transformation

Abstract

In this study synthesis of a helicopter trajectory controller is described. Nonlinear transformation theory has been used in the design of the control system to represent nonlinearities in the model of the system. The singular perturbation theory is used to simplify control system structure and a new algorithm has been synthesized for the inverse nonlinear transformation of the control terms. Problem of modeling errors in the system with nonlinear inverse dynamics theory is investigated. The results of simulation show that the control system could track commanded values under the presence of modeling errors and disturbances.