Nonlinear model for a small-size acrobatic helicopter

A nonlinear model for small-size helicopters was developed and validated using flight data collected on a small-size acrobatic helicopter. The model concentrates on the key effects in the dynamics of small-size helicopter, resulting in a simple model featuring a small set of physical parameters. Validation of the model by comparison of model responses to real flight-test data showed good fidelity for a wide range of conditions including acrobatic maneuvers. The model is integrated into a real-time hardware-inthe-loop simulation environment used for the development of flight control systems and path-planning algorithms that are needed for highly maneuverable autonomous small-size helicopters.