Design and performance verification of the reference trajectory and the control system for the hammer-head turn flight maneuver of unmanned helicopters

Abstract

Designing a control system and a reference trajectory for a small single-rotor helicopter for flight control of a hammer head turn with a load of 2G or more, a vertical attitude and a non-thrusting flight state from a high-speed straight flight, and verification by flight experiments went. In the control system design, a control law for velocity compensation near the reference trajectory in a flight with no thrust was implemented. The reference trajectory was designed as a periodic function of the nose vertical angle using the monotonicity of the attitude change in order to design an asymmetric thrust trajectory in ascent and descent.