Remote Control Training for RC Helicopter based on Quaternion Dynamics in Virtual Environments

Enkhbaatar Tumenjargal, Hyeokjae Kwon, Luubaatar Badarch, and Woonchul Ham


Quaternion, Sliding Mode Control, Helicopter, Simulink


In this research work, we present the implementation of robust sliding mode control algorithm for RC helicopter model, which is based on quaternion. We use the simple dynamics of the helicopter, it can be modeled as rigid body composed of three main parts, such as main body, main rotor, and tail rotor. From the computer simulation, we can check validness of proposed control law. This paper describes a large variety of simulation environments,which are the Matlab/Simulink simulation tool, the computer animation by using OpenGL and Virtual COM port device. Also, we introduce implementation of virtual training environments based on Embedded System. Our virtual environment consists of S3C6410 ARM11 based embedded board, 3D Auto-Stereoscopic LCD Module, and RC Helicopter's remote controller.

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