• control
• dynamic inversion
• feedback linearization
• helicopter
• uav

University of Pisa is performing a research finalized to develop Rotary Unmanned Aerial Vehicles (RUAV), starting from small commercial Radio Commanded helicopters, capable to perform autonomous or automatic flight. The aim of this thesis is to develop a non-linear control laws system, based on feedback linearization method, in order to allow the machine to perform automatic missions. This work has been carried out starting from an existing non-linear open-loop model of the helicopter, whose parameters have been identified in a previous work of thesis. In the first part of this work the non-linear system was analyzed in term of trim condition. After the simplification of the commands chain, the system was linearized and both the non-linear and linear system have been excited by collective and cyclic command signals and their responses have been compared. In the second part of the thesis the control laws for automatic flight mode have been developed. Since the attempt to use the input-output exact feedback linearization procedure was ineffective, a cascade linearization method, called dynamic inversion linearization, was used in order to develop the controller. Finally the controller was implemented and tested in order to validate it.