# Modeling and Robust Attitude Controller Design for a Small Size Helicopter

## TL;DR

This paper presents a new robust attitude control law for a small UAV helicopter, combining nonlinear and model-free methods, tested under wind gust and ground effect conditions on a real platform.

## Contribution

It introduces a novel robust attitude controller based on a non-simplified model, integrating nonlinear and model-free approaches for improved UAV stability.

## Key findings

- Effective control under wind gust conditions
- Robustness demonstrated on real helicopter platform
- Improved attitude stability with the proposed controller

## Abstract

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.

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Source: https://tomesphere.com/paper/1812.10467