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A mini scale helicopter exhibits not only increased sensitivity to controlinputs and disturbances, but also higher bandwidth of its dynamics. Theseproperties make model helicopters, as a flying robot, more difficult tocontrol. The dynamics model accuracy will determine the performance of thedesigned controller. It is attractive in this regards to have a controller thatcan accommodate the unmodeled dynamics or parameter changes and perform well insuch situations. Coefficient Diagram Method (CDM) is chosen as the candidate tosynthesize such a controller due to its simplicity and convenience indemonstrating integrated performance measures including equivalent timeconstant, stability indices and robustness. In this study, CDM is implementedfor a design of multivariable controller for a small scale helicopter duringhover and cruise flight. In the synthesis of MIMO CDM, good design common sensebased on hands-on experience is necessary. The low level controller algorithmis designed as part of hybrid supervisory control architecture to beimplemented on an onboard computer system. Its feasibility and performance areevaluated based on its robustness, desired time domain system responses andcompliance to hard-real time requirements.

Onboard Multivariable Controller Design for a Small Scale Helicopter Using Coefficient Diagram Method