Transactions of Nanjing University of Aeronautics & Astronautics
Special Issue for UAV
Nonlinear Intelligent Flight Control for A Quadrotor Unmanned Helicopter
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Abstract:
Quadrotor unmanned helicopter is a new popular research platform for unmanned aerial vehicle (UAV), thanks to its simple construction, vertical take-off and landing (VTOL) capability. Here a nonlinear intelligent flight control system is developed for quadrotor unmanned helicopter, including trajectory control loop composed of co-controller and state estimator, and attitude control loop composed of brain emotional learning (BEL) intelligent controller. BEL intelligent controller based on mammalian middle brain is characterized as self-leaning capability, model-free and robustness. Simulation results of a small quadrotor unmanned helicopter show that the BEL intelligent controller-based flight control system has faster dynamical responses with higher precision than the traditional controller-based system.
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