ROTARY WING UAV: HIL TESTS FOR A MODEL-BASED FEEDFORWARD CONTROLLER

This paper presents the results of applying a model-based feed-forward control technique to control a small scale unmanned Helicopter (RUAV). The very simple proposed architecture is based on nested proportional-integral control loops with the addition of a feedforward compensation in the inner loop. The feedforward term is obtained by the inversion of the command-attitude identified plant models. For a matter of comparison, a fast discrete time implementation will be also illustrated. An Hardware In the Loop (HIL) test bench will be presented and the velocity signal noise identification process will be illustrated. Finally stability analysis results and HIL simulations will show how this technique combines benefits of feedforward and feedback controllers and makes easier the tuning of the controller parameters.