Design of an optimal flight control system with integral augmented compensator for a nonlinear UAV helicopter

Yi Rui Tang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

10 Citations (Scopus)


This paper presents the development of an optimal flight control system for a small-scale Unmanned Aerial Vehicle (UAV) helicopter. Complex and highly coupled dynamics of the helicopter naturally complicates the modeling process and the controller design. In this work, the comprehensive nonlinear model of the helicopter system is derived from the first-principles modeling and its parameters are verified with system identification approaches. The derived nonlinear model is with modest level of complexity and the high-fidelity linearized model is adequate for flight control system design. Helicopter is a high-dimensional and inherently unstable system. It demands accurate and efficient control algorithms to stabilize the attitude of the helicopter. Full-state feedback control is utilized in the controller design. However, onboard sensors can provide only partial states information for feedback. The unmeasured states are estimated by means of a reduced-order observer. Linear Quadratic Regulator (LQR) methodology and integral state augmentation are adopted in order to achieve the desired performance of the control system. The simulation results indicate the developed control system is competent and efficient enough to control the UAV helicopter.
Original languageEnglish
Title of host publicationWCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Number of pages6
Publication statusPublished - 1 Dec 2012
Externally publishedYes
Event10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China
Duration: 6 Jul 20128 Jul 2012


Conference10th World Congress on Intelligent Control and Automation, WCICA 2012


  • flight control system
  • LQR
  • optimal control
  • state estimation
  • UAV helicopter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this