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Hovering Control of Unmanned Small Size Helicopter Based on Adaptive Inverse Control Theory

Adaptive inverse control (AIC) theory is introduced to inhibit interferences such as side wind during hovering control for small-sized unmanned helicopter. Based on this theory, an AIC control block diagram is improved to accommodate with the characteristics of helicopter hovering model and robust design. According to structure and fundamental theory of small-sized unmanned helicopter, a hover flight experimental platform is built. Also, the translation equations and the rotation equations are derived by the Kane Equation. Recursive least square (RLS) method is used to identify the parameters and design the controller. The experimental results show that, in terms of interference elimination, AIC-RLS method is better than PID controller. The realization of open-air hovering control on flight experimental platform demonstrates the method presented in this paper is effective.