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		Baoquan SONG,Yunhui LIU,Caizhi FAN.[en_title][J].Control Theory and Technology,2010,8(3):301~308.[Copy]

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BaoquanSONG,YunhuiLIU,CaizhiFAN
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DOI：10.1007/s11768-010-0017-8

Received:January 18, 2010Revised:January 18, 2010

基金项目:This work was supported by the National Natural Science Foundation of China (No.60975023).

Feedback linearization of the nonlinear model of a small-scale helicopter

Baoquan SONG,Yunhui LIU,Caizhi FAN

(College of Electronic Science and Engineering, National University of Defense Technology;Department of Mechanical and Automation Engineering, Chinese University of Hong Kong)

Abstract:

In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristics 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.

Key words: Feedback linearization Nonlinear model Model helicopter