Hierarchical Dual Loop Attitude Control For Unmanned Helicopter

Abstract

In this article, the authors explore ways to optimize helicopter performance by utilizing various control techniques that cater to different operational requirements and flight conditions. By combining these techniques in a hierarchical structure, helicopter engineers and researchers can enhance the aircraft’s versatility and overall effectiveness. The work focuses on integrating different control strategies and evaluating their performance during various maneuvers. The inner loop control for pitch, roll, and yaw uses a cascaded P-PI controller, while the outer loop control for horizontal and lateral speed employs a Sliding Mode Controller to provide pitch and roll references for the inner loop. For vertical speed control, L1 adaptive controller has been implemented. This paper provides valuable insights into the practical implementation and performance analysis of these integrated control strategies, showcasing their potential significance in addressing the diverse and demanding environments encountered during helicopter missions.