Multi-variable flatness-based control of a helicopter with two degrees of freedom

In this paper, a multi-variable nonlinear control of a twin rotor aerodynamical system (TRAS) is presented. A control-oriented state-space model with four states is derived employing Lagrange´s equations. Using this system representation, a multi-variable flatness-based control is designed for an accurate trajectory tracking concerning both the pitch angle characterising the vertical motion and the azimuth angle related to the horizontal motion. Due to unmeasurable states as well as disturbance torques affecting the pitch axis and the azimuth axis, a discrete-time Extended Kalman Filter (EKF) is employed and combined with a discrete-time implementation of the multi-variable flatness-based control. The effectiveness of the proposed control strategy is highlighted by experimental results from a test rig that show an excellent tracking behaviour.