Modeling and Control of the Yaw Channel of a UAV Helicopter

  title={Modeling and Control of the Yaw Channel of a UAV Helicopter},
  author={Guowei Cai and Ben M. Chen and Kemao Peng and Miaobo Dong and Tong Heng Lee},
  journal={IEEE Transactions on Industrial Electronics},
We present in this paper the modeling and flight-control-system design for the yaw channel of an unmanned-aerial-vehicle (UAV) helicopter using a newly developed composite nonlinear feedback (CNF)-control technique. The CNF-control method has been proven to be capable of yielding a fast transient response with no or very minimal overshoot in tracking a specific target. From the actual flight tests on our UAV helicopter, it has been found that the commonly used yaw dynamical model for the UAV… CONTINUE READING
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