Comprehensive Modeling and Control of the Yaw Dynamics of a UAV Helicopter

The modeling of yaw dynamics of a UAV helicopter is focused on together with its control system design. From the flight tests on our actual UAV helicopter, it has been found that the yaw dynamical model for the UAV helicopter proposed in the literatures is very rough and inaccurate, which might cause the helicopter to shake severely in certain flight conditions. A complete examination is carried out to identify a perfect model of the yaw channel in the UAV helicopter. It would be found that the assumption in the old model is not appropriate. Some advanced control schemes will then be adopted to solve the shaking problem observed in the yaw channel.