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DOI 10.1007/s11768-010-0017-8
Abstract: In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic character-
istics of a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hovering
control is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear
system using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinear
controller.
Keywords: Feedback linearization; Nonlinear model; Model helicopter
k26 k25 A1
bilize the yaw axis through negative feedback of the heading + , (11)
rate r. The AVCS generates an angular velocity propor- k25 k26 B1m
tional to the rudder control signal. Based on the discussion where
in [21], the tail rotor thrust is simply modeled as 4K 32K
k23 = Krm (8 + m 2 ), k24 = Krm ( m m 2 m ),
T t = k6 Q k7 tail + k8 r, (7) I I
where k6 = 1/l3 , k7 , and k8 are the parameters of the AVCS m
gyro, and tail is the input of the tail rotor system that is con- k25 = 8Krm , k26 = Krm m , Krm = m 2 ,
( ) + 64
trolled by the servo motor.
Im is the inertia of the main rotor, and m is the main rotor
In the fuselage coordinate frame Cxyz, the external mo-
lock number.
ment components are
The stabilizer bar can be regarded as the secondary teeter-
Mx = (k9 T + k10 )b1 + k11 T ,
m m t
ing rotor. It receives cyclic inputs cyc s
from the swashplate
M = (k9 T m + k10 )am 1 k12 T ,
m (8) in a manner similar to that of the main blades.
y
Mz = Q k12 T b1 k13 T ,
m m t
cyc
s
= As1 cos B1s sin , (12)
where k9 = l1 , k10 = K , k11 = l4 , k12 = l2 , k13 = l3 , l1 , where A1 and B1 are the longitudinal and lateral cyclic
s s
l2 , l3 , and l4 are the geometric parameters of the fuselage pitch angle of the stabilizer bar.
(refer to Fig.1), am 1 and b1 are the longitudinal and lateral
m
Similar to the main rotor, the simplied apping equation
apping angles of the main rotor disk, respectively (refer to of the stabilizer bar is
Section 2.3). s
s
a 1 q k27 k28 a1
=
2.2 Attitude dynamics b s1 p k28 k27 bs1
The kinematics of rotation is
s
k k27 A1
= q sin sec + r cos sec f1 , + 28 , (13)
k27 k28 B1s
= q cos r sin f2 , (9)
where as1 and bs1 are the longitudinal and lateral tilting an-
= p + q sin tan + r cos tan f3 .
gle of the stabilizer rotor, respectively, k27 = 8Krs , k28 =
Based on Euler equation, the attitude dynamic equation s
of the fuselage is IC = (Mx , My , Mz )T (IC ), Krs s , Krs = , s is the stabilizer rotor lock
( s )2 + 64
I1 0 I4 number.
where IC 0 I2 0 is the inertia matrix about the The cyclic pitch angle cyc of the swashplate (positive
I4 0 I3 when above the reference plane) is
body-xed frame. Thus, cyc ( ) = a cos b sin , (14)
p = k14 pq + k15 qr + k19 Mx + k22 Mz f4 , where a and b are the longitudinal and lateral tilting angle
q = k16 (p2 r2 ) + k17 pr + k20 My f5 , (10) of the swashplate, respectively, which are controlled by the
servo motors.
r = k18 pq k14 qr + k22 Mx + k21 Mz f6 ,
As the response of a mechanical system is much faster
where than the aerodynamics and the operating ranges of the me-
(I2 I1 I3 )I4 I2 I3 I32 I42 chanical devices (such as swashplate and the Bell/Hiller
k14 = , k 15 = ,
I1 I3 I42 I1 I3 I42 mixer) are small, it is suitable that the mechanical device
I4 I3 I1 I 2 + I42 I1 I2 in the helicopter system is regarded as the immediate syn-
k16 = , k17 = , k18 = 1 , chronous transfer mechanism and is simply modeled as the
I2 I2 I1 I3 I42
linear equation when designing the ight controller. Based
I3 1
k19 = , k20 = , on the structure of the Bell/Hiller mechanism, for the stabi-
I1 I3 I42 I2 lizer blade, the cyclic pitch angle that is caused by the tilting
I1 I4 swashplate is simply modeled as
k21 = , k22 = .
I1 I3 I42 I1 I3 I42 As1 = kcyc
s
b, B1s = kcyc s
a, (15)
2.3 Flapping dynamics of the main rotor and stabilizer where kcyc is the ratio of the gear between the stabilizer bar
s
bar and the swashplate.
In our model helicopter, the two blades, which are at- Although the stabilizer bar does not produce any signi-
tached to the shaft by a single apping hinge, form a single cant force or moment on the hub, it affects the cyclic pitch
teetering structure. The equations can be derived with suf- command of the main rotor via the Bell/Hiller mixer. The
cient accuracy by assuming that lagging and feathering mo- main blade receives both the cyclic pitch command from
tion do not occur, when considering apping motion [22]. the tilting swashplate and a component imposed by the sta-
Under the simplifying assumptions in [26], the following bilizer bar that is proportional to the apping angle of the
304 B. SONG et al. / J Control Theory Appl 2010 8 (3) 301308
a 1 q k23 k24 a1
=
b m
1 p k k
24 23 bm1
3 Feedback linearization of the nonlinear
s
model
k25 k26 a
+ks
m 1 When taking the model helicopter off the ground, the pi-
k26 k25 bs1 lot usually trims its roll and pitch attitude rst, then moves
k25 k26 a the tail to the desired orientation, and nally rises it up.
+kcyc
m
. (17) From the ight experience of the pilot, it can be seen that
k26 k25 b
the helicopter exhibits strong coupling between the heave
By substituting (15) into (13), the apping equation of dynamics and the yaw dynamics, as well as the strong cou-
the stabilizer rotor is pling between the longitudinal and lateral dynamics. How-
s
s
a 1 q k27 k28 a1 ever, the heave dynamics and the yaw dynamics have rela-
bs = tively small effect on the roll attitude and pitch attitude. This
1 p k28 k27 bs1
structural characteristic of the model helicopter gives us in-
k27 k28 a spiration to design the controller in the following way: ini-
+kcyc
s
. (18)
k28 k27 b tially, we feedback linearize the heave dynamics, then com-
pensate for the yaw dynamics, and nally decouple the roll
2.4 Simplied nonlinear model for controller design and pitch dynamics.
For hovering, the air resistance is ignored because am 1 3.1 Feedback linearization of the attitude-heave sub-
and bm 1 are small, and the small side-forces T a1 and
m m
system
(T m bm1 T ) are not designed to act as the lifts that con-
t
trol the helicopter moving. Therefore, they are usually ig- In this section, we only consider one subset of the dy-
nored [6,8]. Thus, in the inertial coordinate frame OXY Z, namic model of the small-scale helicopter: the heave and
the dynamic equation of the fuselage is attitude dynamics. The output vector of the subsystem is
Y1 = (z, , , )T , and the inputs (actuators) are 0m , tail ,
(
x, y, z)T = RIF (0, 0, T m /m)T + (0, 0, g)T , (19) a, b.
where m is the mass of the helicopter, and g is the gravity Theorem 1 If all states can be observed and all inputs
acceleration. are unlimited, then the attitude-heave subsystem of the non-
In summary, (19), (6), (9), (10), (17), and (18) constitute linear model in Section 2.4 can be linearized via state feed-
the full nonlinear model for designing the small-scale heli- back.
copter ight controller. Proof The theorem is proved by two steps. The st step
is to transform the nonlinear subsystem to a linear system
x = T m (cos sin cos + sin sin )/m,
via states feedback, and then, the second step proves that its
y = T (cos sin sin sin cos )/m,
m
zero dynamics is stable.
z = g + T m (cos cos )/m,
Based on (19), the heave dynamics is z = g +
0 = 2k5 0 (f s + 0 ) + k5 CT , Tm
cos cos . Let z = 11 , 11 = 12 , 12 = 13 , and
= q sin sec + r cos sec , m
13 = u1 , where 11 , 12 , 13 are the dynamic states, and u1
= q cos r sin ,
= p + q sin tan + r cos tan , is the rst nominal input. Then, for = and = , T m
2 2
p = k14 pq + k15 qr + k19 Mx + k22 Mz , becomes
q = k16 (p2 r2 ) + k17 pr + k20 My , T m = m sec sec (g + 11 ). (21)
r = k pq k14 qr + k22 Mx + k21 Mz , Therefore, based on (3), the actuator 0m can be solved:
m
18
m
(20)
a 1 = q k23 k24 a1
g + 11 3
b 1
p k24 k23 bm 0m = 3m sec sec + .
m (22)
1
k1 k2 2
k25 k26 as1
+ ksm
From (9), the second-order derivative of can be solved:
k k bs
26 25
1
k25 k26 a = f1 f2 tan + f2 f3 sec + f5 sin sec
+ kcyc
m
,
k k b +f6 cos sec . (23)
26 25
a s1 q k27 k28 as1
Let = 2 and 2 = u2 , where 2 is the dynamic state,
s =
b1
p k28 k27 bs and u2 is the second nominal input. Then, f6 becomes
1
k27 k28 a f6 = (2 cos f1 f2 sin f2 f3 ) sec f5 tan .
+ kcyc
s
.
k28 k27 b (24)
B. SONG et al. / J Control Theory Appl 2010 8 (3) 301308 305
Substituting (7), (8), (21), and (24) into (10) results in the There are three internal states: 0 , as1 , and bs1 . Here, the
actuator tail as follows: zero dynamics of 0 becomes 0 = 2k5 20 + k5 mg/k2 .
f6 k21 Q k18 pq + k14 qr Obviously, it is stable.
tail = (k6 Q + k8 r + m
k13 k21 k11 k22 Since a m
1 = b1 = 0, from (17), a and b are solved:
[ (k9 k22 k12 k21 )T m +k10 k22 ]bm
1
m
1
)/k7 . (25) a 1 k25 k26 k23 k24 a
1
k13 k21 k11 k22 = m bm
b kcyc k26 k25 k24 k23 1
For the pitch attitude and roll attitude, the second-order
derivatives are ks
m
as1
m . (33)
= f1 f3 cos + f5 cos f6 sin , (26) kcyc bs1
= f1 f2 sec + f2 f3 tan + f4 + f5 sin tan Therefore, substituting (33) into (18) leads to the follow-
+f6 cos tan . (27) ing zero dynamics of as1 and bs1 :
s
m
s
(3)
m
k23 k24 a
1
f10 a 1 bm . (34)
= + A 1 m , (29) k24 k23 1
(3) f11 b1
The eigenvalues of the above zero dynamics are
A1{11} 0 ksm
where A1 = , referring to Appendix 1 for
A1{21} A1{22} (1 + kcyc
s
)(k27 k28 i)
kcyc
m
details.
Substituting (17) into (29) leads to ks
m
(3)
= (1 + kcyc
s
)K s (8 s i). (35)
k25 k26 a kcyc r
m
= B1 + kcyc A1
m
, (30) Since kcyc
s
, kcyc
m
, ks
m
, and Krs are the positive geometric
(3) k26 k25 b
m
and physical parameters of the small-scale helicopter, for
f q k23 k24 a1
where B1 = 10 A1 + + the zero dynamics, the real parts of its eigenvalues are nega-
f11 p k24 k23 bm tive. Consequently, the zero dynamics of the attitude-heave
s
1
k25 k26 a1 subsystem is stable, i.e., the second step is proved. Then,
A1 ks
m
. Theorem 1 is proved.
k26 k25 bs1
3.2 Feedback linearization of the full nonlinear model
Obviously, both the matrix A1 (assuming = ) and the
2 For the full nonlinear system of the small-scale model
k25 k26 helicopter, the output vector is Y = (x, y, z, )T , and the
matrix are invertible. If we set ( , (3) )T =
(3)
k26 k25 inputs are 0m , tail , a, and b.
(u3 , u4 )T , where u3 and u4 are the nominal inputs, then the Theorem 2 If all states can be observed and all inputs
actuators a and b are solved as follows: are unlimited, then the nonlinear model in Section 2.4 can
1
be linearized via state feedback.
a 1 k25 k26 1 u3
= m A1 B1 . (31) Proof Theorem 1 has proved that the outputs (z, ,
b kcyc k26 k25 u4 , )T can be decoupled. From (19) and (1), the outputs
Finally, the following linearized system is obtained: (x, y) are mainly dominated by (, ). Therefore, if the re-
z (5) = u1 , (3) = u2 , (3) = u3 , (3) = u4 . (32) lationship between (x, y) and ((3) , (3) ) can be found, then
the full nonlinear system can be linearized.
Although the rst step is proved, it is not sufcient to Denote Y2 = (x, y)T , substituting (21) into (19) leads to
claim that the nonlinear system can be linearized by the dy-
(1) f (4)
(x(4) , y (4) )T = Y2 (refer to (37)), and K0P = 70, K1P =
A2 = A3 2 , (38)
f3 100, K2P = 60, K3P = 25, K4P = 5.
For the yaw subdynamics, the feedback linearized sys-
sec2 0
where A3 = , and thus, tem is a third-order linear system, and the state feedback
sec tan tan sec sec2 controller is
(1) f2 (2)
(2)
A2 = A3 + A3 (2) , u2 = K0Y K1Y f1 K2Y 2 , (44)
f
3
(2)
(3)
(39)
f where
A2 = A3
(3) (2) 2
+2A3
(1)
+A3 (3) .
f3 (2) K0Y = 160, K1Y = 88, K2Y = 14.
Therefore, substituting (39) into (37) results in the fth-
order derivative of Y2 as follows: The simulated responses of the regulator system are
(3)
shown in Figs.2 to 4. It can be seen that input-output is de-
(5)
Y2 = B3 + B2 A3 (3) , (40) coupled, and every element of the outputs exhibits a linear
response, and the internal states are stable.
where
(3) (2) (1) (1) (2)
B3 = B2 A2 + (3B2 A3 + 3B2 A3 + B2 A3 )
(1) (1)
(f2 , f3 )T + (3B2 A3 + 2B2 A3 )((2) , (2) )T .
Substituting (30) into (40) leads to
inputs, and then, the actuators a and b are solved: Fig. 2 Outputs response of the regulator system.
1
a 1 k25 k26
= m A1 1 1
1 A3 B2
b kcyc k26 k25
u
3
B3 B2 A3 B1 . (42)
u4
Finally, the nonlinear system is linearized as
x(5) = u3 , y (5) = u4 , z (5) = u1 , (3) = u2 . (43)
Similar to the proof of Theorem 1, it is easy to prove that
the zero dynamics of the full nonlinear model is stable, and
thus, the full nonlinear model can be feedback linearized.
4 Simulation results
A simulation platform is set up using the MATLAB
Simulink R Fig. 3 Internal states of the regulator system.
software in order to test the proposed controller.
In this simulation work, the objective is to hover the heli-
copter at the origin: xd = yd = zd = d = 0, assuming the
initial states:
x0 = 2, y0 = 2, z 0 = 3, 0 = 1,
0 = 0 = 0, 0 = mg/(2k2 ),
p0 = q0 = r0 = 0, am 1 = b1 = a1 = b1 = 0.
m s s
u = K0 x K1 vx K2 x
P P P
K3 x K4 x ,
P (3) P (4)
3
u4 = K0 y K1 vy K2 y K3P y (3) K4P y (4) ,
P P P Fig. 4 Actuator response of the regulator system.
B. SONG et al. / J Control Theory Appl 2010 8 (3) 301308 307
= 0 + f s = k5 (20 + CT ) + w ,
[15] G. Cai, B. M. Chen, K. Peng, et al. Modeling and control of the
yaw channel of a UAV helicopter[J]. IEEE Transactions on Industrial
Electronics, 2008, 55(9): 3426 3434.
R
and
[16] G. Cai, B. M. Chen, K. Peng, et al. Modeling and control
system design for a UAV helicopter[C]//Proceedings of the 14th w = (v x , v y , v z )RIF + (vx , vy , vz )RIF sk() (0, 0, 1)T ,
Mediterranean Conference Control and Automation. Piscataway: (a5)
IEEE, 2006: 600 606.
0 r q
where sk() = r 0 p .
[17] G. D. Padeld. Helicopter Flight Dynamics: the Theory and
Application of Flying Qualities and Simulation Modelling[M].
Oxford: Blackwell Publishing Ltd., 2007. q p 0
308 B. SONG et al. / J Control Theory Appl 2010 8 (3) 301308
where the rst-order derivative of A3 is Baoquan SONG received the B.E. degree and M.E.
(1) degree in Automatic Control from National Uni-
A3 = f2 tan A3 + sec A6 , (a8) versity of Defense Technology, Changsha, China,
where in 2002 and 2004, respectively. He was a visiting
Ph.D. student with the Department of Mechanical
A6{11} 0
A6 = , and Industrial Engineering, University of Toronto,
A6{21} A6{22} Toronto, Canada, in 2008. Currently, he is pursu-
ing his Ph.D. degree in the Department of Infor-
A6{11} = f2 sec tan ,
mation and Communication Engineering, National
A6{21} = f2 sec2 tan + f3 tan sec2 , University of Defense Technology. His research interests include heli-
copter control, nonlinear control, and robust control. E-mail: baoquan-
A6{22} = 2f3 sec2 tan . song@gmail.com.
(3) (2)
The third-order derivative of A2 is A2 = A3 (f2 , f3 )T Yunhui LIU received his B.E. degree in Applied
(1)
+2A3 ((2) , (2) )T + A3 ((3) , (3) )T , where the second- Dynamics from Beijing Institute of Technology,
China in 1985, his M.E. degree in Mechanical En-
order derivative of A3 is gineering from Osaka University in 1989, and his
(2) (1)
A3 = ((2) tan + f22 )A3 + 2f2 tan A3 Ph.D. in Mathematical Engineering and Informa-
tion Physics from the University of Tokyo, Japan,
+ sec A9 , (a9)
in 1992. He has been with Department of Automa-
where
tion and Computer Aided Engineering, The Chinese
A9{11} 0 University of Hong Kong since 1995 and is currently
A9 = , a professor. He is the director of the Centre for Robotics and Technology
A9{21} A9{22} Education of Faculty of Engineering and the director of the Joint Center
A9{11} = [((2) + 2f22 tan ) tan + f22 ] sec , for Intelligent Sensing and Systems of CUHK and NUDT. He is a fellow
of IEEE and was members of the Robotics Society of Japan and of the So-
A9{21} = ((2) + 2f32 tan ) tan sec2 + ((2) ciety of Instrument and Control Engineers. His research interests include
visual servoing of dynamic systems, medical robotics, internet robotics,
+2f22 tan ) sec2 tan + 2f2 f3 sec2 sec2 , education robotics, multi-ngered grapsing, and active sensor networks.
A9{22} = 2[((2) + 2f32 tan ) tan + f32 sec2 ] sec2 . E-mail: yhliu@mae.cuhk.edu.hk.
Denote
Caizhi FAN received the B.E. degree in Thermal
cos sin Dynamics from Xian Jiaotong University, Xian,
C() = , China and M.E. degree in Astronautic Science and
sin cos Technology from the National University of Defense
and then B2 = (g + 11 )C() (refer to (36)). Technology, Changsha, China, in 2002 and 2004, re-
spectively. Currently, he is pursuing his Ph.D. degree
The rst-order derivative of B2 is
in the Department of Information and Communi-
(1)
= C2 C(),
B2 (a10) cation Engineering, National University of Defense
Technology, Changsha, China. His research interests
12 (g + 11 )f1
where C2 = . include visual servoing, adaptive control, and predictive control. E-mail:
(g + 11 )f1 12 caizhifan@gmail.com.