Height control based on model identification for a small-scale unmanned helicopter

Small-size unmanned helicopter, with its unique characteristics of hovering, flying sideways and backwards, is more superior in maneuverability and flexibility compared with fixed-wing aircraft, so it can be widely used in the military and civilian fields. This paper takes the Tiger-90 small-size unmanned helicopter as research object, developing a control system that is based on ARM, has provided a base for further research. Firstly, the experimental platform of small-scale helicopter is build according to the structure characteristics of helicopter which is selected. After that, the mathematical model of the vertical channel is identified, based on the flight data of the experimental platform. Finally, according to the established model in the vertical channel, a height controller is derived, using the PID control rule.