Modeling and Simulation of an Unmanned Coaxial Helicopter

V. Duvvuri, S. Barissi, and N. Houshangi (USA)


Unmanned coaxial helicopter, Dynamical modeling, SimMechanics, Hover control


— This paper presents modeling of a novel small configuration coaxial helicopter using two different approaches. The first approach is based on Lagrangian formulation which considers the system as a multibody. In the second approach, a simulator is built using a commercially available software, SimMechanics . The system is simulated using both approaches and controlled using a PID controller. Comparisons between simulation results verifies the effectiveness of the analytical method presented which can be used for designing robust controllers.

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