8. Time Domain Parameter Estimation and Applied Discrete Nonlinear Control for Small-Scale Unmanned Helicopters

This Chapter deals with the dual problem of parameter estimation and nonlinear discrete control of helicopters. The objective is to develop a practical identification and control solution for direct application to an autonomous helicopter flight system. Although most controller designs are in continuous time, this Chapter considers the discrete time dynamics of the helicopter. The shift of the helicopter control problem to discrete time is twofold: Control algorithms are executed by microprocessors. The discretization effect of the helicopter dynamics should be incorporated into the controller design. In addition, time domain parametric identification is much simpler and computationally more efficient when the system equations are discretized.