Manoeuvring control of an underactuated single rotor aircraft
by Boni Liu
International Journal of Modelling, Identification and Control (IJMIC), Vol. 39, No. 4, 2021

Abstract: The purpose of this paper is to propose a control model for the manoeuvring of a single rotor unmanned aircraft (SRUA). SRUA delivers a more flexible and attractive solution with a characteristic of vertical takeoff and landing (VTOL) and hovering ability. The methodology of this paper is to first present a new configuration of rotorcraft as the research object. Then, to realise the autonomous flight according to the existing relevant practical experience. This paper achieves this by combining the theories of flight mechanics, automatic control, computer technology, and other related disciplines to design the rotorcraft flight control system. The study evaluates the flight principle and structure of the rotorcraft, carries out the analysis of force and torque, and establishes the mathematical model. Furthermore, the study discusses the state equations, coupling analysis, and the stability of aircraft. A flight control strategy for the aircraft is presented and the control loop is designed, including the high control loop, speed control loop, and attitude control loop. The designed control algorithm is applied to the model with six degrees of freedom (DOF). The key findings of the study are that the proposed control scheme has better stability and follows the reference trajectory more closely than traditional control models. Simulation results prove the aforementioned assertions of better performance of the proposed scheme.

Online publication date: Mon, 04-Jul-2022

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