Modeling, Identification and Robust Control of Yaw Dynamics of Small-Scale Unmanned Helicopters

A yaw dynamic model of a small-scale unmanned helicopter with yaw rate feedback system is constructed according to its dynamic characteristics. With the data from flight experiment, a complete yaw dynamic state-space model is identified using prediction error method (PEM). Moreover, an analysis is made about the data from experimental flight, and thereby a dynamic model with higher fidelity is established. Then an external control law has been designed using classical PID control method and H_¿ loop-shaping robust control method respectively. Comparative results demonstrated that the H_¿ loop-shaping control has a superior performance and robustness than classical PID control.