Patent ID: 7510141

Claim:
An autonomous control method for a small unmanned helicopter comprising steps of: detecting a current position, an attitude angle including pitch, roll and yaw axes attitude angles, an altitude relative to the ground, and an absolute azimuth of the nose of the small unmanned helicopter; establishing at least one of position and velocity reference values from a ground station; determining optimal control reference values for driving servo motors that move a plurality of helicopter rudders from the current position and the attitude angle of said small unmanned helicopter detected by sensors; effecting translational motion control and tri-axial orientation control on the small unmanned helicopter based upon computational processing results; and defining the mathematical model for a transfer function representation including pitching operation input and pitch axis attitude angles in the tri-axial orientation control for said small unmanned helicopter as G Î¸ â¡ ( s ) = e - Ls â¢ K Î¸ â¢ Ï‰ n â¢ â¢ s 2 ( s 2 + 2 â¢ Ï› s â¢ Ï‰ n â¢ â¢ s â¢ s + Ï‰ n â¢ â¢ s 2 ) â¢ ( T Î¸ â¢ s + 1 ) â¢ s ( 13 ) wherein G Î¸ : parameter e âˆ’Ls : delay time element K Î¸ : model gain T Î¸ : model gain Ï‰ ns : characteristic angular frequency s: laplace operator Î¾ s : damped ratio and, causing a primary computational unit to calculate optimal control reference values for driving the servo motors based upon said model equations.