Dynamic modeling, system identification and robust control of unmanned helicopter using multilevel simulation environment

Articles in Press

Document Type : Research Article

Author

Mechanical Engineering Department, Semnan University, Semnan, Iran

Abstract

According to numerous capabilities and increasing applications (in both commercial and military fields) of radio-controlled helicopters, many investigations are being conducted on these unmanned aircraft vehicles. Due to complex dynamic behavior and manual control limitations, the automatic control ability of these UAVs has gained high importance. The multilevel dynamic modeling, system identification, and control of an unmanned helicopter have been investigated in this paper. The analysis has been performed in a multilevel simulation environment designed for these purposes. A detailed complex analytical dynamic model of unmanned helicopter is used as the target case and an approximate model is used for designing control system. The system identification method has been used to tune the approximate model parameters to make sure that this model resembles the detailed complex analytical model behaviors. After designing a hierarchical robust control system for the identified approximate model, its implementation on the detailed model is performed by designing an appropriate Kalman filter to estimate un-measured state variables. The results show that the control system designed based on the identified approximate model can properly control the detailed complex analytical model and can be investigated more in next steps by in-flight experiment.

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Journal of Mathematical Modeling

Articles in Press, Corrected Proof
Available Online from 05 June 2026

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