This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a non-simplified helicopter model, a new robust attitude control law, which is combined with a nonlinear control method and a model-free method, is proposed in this paper. Both wind gust and ground effect phenomena conditions are involved in this experiment and the result on a real helicopter platform demonstrates the effectiveness of the proposed control algorithm and robustness of its resultant controller.

翻译：本文件论述小型无人驾驶航空器(无人驾驶飞行器)的设计和应用控制器,主要目的是研究小型直升机的模型和姿态控制器设计,根据非简化直升机模型,本文件提出新的稳健姿态控制法,结合非线性控制方法和无模式方法,其中涉及风力和地面效应现象条件,实际直升机平台的结果表明拟议控制算法的有效性及其结果控制器的稳健性。