High precision hover control for unmanned autonomous helicopter in face of strong atmospheric disturbances

To improve the control precision for an unmanned autonomous helicopter (UAH) hovering in strong atmospheric disturbances, a high precision position control scheme is presented in this paper. Difficulties of the precision position control for a UAH is firstly analyzed. Then, for the disadvantages of the normal position controller, a high precision position control scheme is developed, which is based on the modified nonlinear PID. The simulation indicates that the high precision position control scheme could achieve higher control precision and better capacity of restraining disturbance than normal position control scheme, so, the high precision position control scheme plays an important role in application of the unmanned autonomous helicopters.