Controller Development for a Rotary UAV using Physics Based Non-Linear Helicopter Model

Abstract Unmanned aerial vehicles are rapidly changing the rules of modern day war. Unmanned helicopters are a recent entity in this league and have a promising future in military as well as in civil applications. However, due to various non-linear phenomenon and effects, the helicopter dynamics are well known to be complex to model mathematically and hence controlling rotary air vehicle is far more challenging than fixed wing platforms. Under the present work, a physics based model of a mini helicopter has been developed and used to design the controller. This paper presents the modelling aspects for the candidate vehicle, preliminary validation using experimental RC flying, overview of controller design based on chosen specifications and few typical results of simulations including the waypoint navigation.