抄録
In this paper, the design of a nonlinear adaptive controller for a single-rotor type small helicopter is described. First, the configuration of small autopilot device, which can be applied any single-rotor helicopters is presented. We construct the hardwear of the autopilot device based on FPGA (Field Programmable Gate Array). In the case of small helicopter, payload limitation of them is so tight. Therefore, we have to use only small and light weight sensors and computer for the control. All sensors we use are light enough and low cost, the total weight of the autopilot device with box is about 300 g. Next, the nonlinear adaptive attitude controller is designed by using backstepping method. We guarantee that the attitude of the helicopter can follow arbitrary time varying reference attitude, even when the helicopter model has the parameter uncertainty, such as inertia moment or aerodynamic uncertainties. Finally, the effectiveness of the adaptive attitude controller is verified by simulation with parameter uncertainties.
