Corpus ID: 2314195


  author={T. John Koo and Man Hyung Yi and S. Shankar Sastry},
In this paper, output tracking control of a helicopter based unmanned aerial vehicle model is investigated. First, based on Newton-Euler equations, a dynamical model is derived by considering the helicopter as a rigid body upon which a set of forces and moments act. Second, we show that the model cannot be converted into a controllable linear system via exact state space linearization. In particular, for certain output functions, exact input-output linearization by state feedback results in… Expand
Optimal Control Designing for a Discrete Model of Helicopter in Hover
The use of autonomous vehicles, have been increased during the last years. An autonomous helicopter has advantages in maneuverability and vertical flight compared to autonomous airplane which is notExpand
Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter
In this article, a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism. The derivation comprises determiningExpand
Flight control of a small helicopter in unknown wind conditions
  • B. Ahmed, F. Kendoul
  • Computer Science, Mathematics
  • 49th IEEE Conference on Decision and Control (CDC)
  • 2010
This paper presents a novel application of a two-time scale controller, using a disturbance observer, for the hover flight control of a Rotary wing Unmanned Aerial Vehicle (RUAV). Flapping and servoExpand
Backstepping based PID Control Strategy for an Underactuated Aerial Robot
Abstract In this paper a nonlinear model of an underactuated quad rotor aerial robot is derived, based on Newton-Euler formalism, and backstepping based PID control strategy is implemented for theExpand
Optimal controller designing based on linear quadratic regulator technique for an unmanned helicopter at hover with the presence of wind disturbance
Helicopter is a system with six degrees of freedom, which has turned the controller design issue into a competitive task among engineers due to a non-linear unstable behavior around its equilibriumExpand
Robust attitude control of small-scale unmanned helicopter
Robust attitude control problem is investigated for a small-scale unmanned helicopter. The control objective is to track roll and pitch reference signals agilely and accurately. Under hovering andExpand
Control and stability analysis of an autonomous helicopter
This paper presents some results from the research on autonomous helicopter control conducted in the framework of the COMETS project. The paper presents both linear and non-linear control laws. AExpand
Backstepping based Nonlinear Flight Control Strategy for 6 DOF Aerial Robot
In this paper a nonlinear model of a 6-DOF quad rotor aerial robot is derived, based on Newton-Euler formalism, and backstepping based PID flight control strategy is implemented for motion control ofExpand
Advanced Autonomous Underwater Vehicles Attitude Control with L1 Backstepping Adaptive Control Strategy
A novel attitude control design, which combines L1 adaptive control and backstepping control together, for Autonomous Underwater Vehicles (AUVs) in a highly dynamic and uncertain environment is presented. Expand
Robust altitude tracking of a helicopter using sliding mode control structure
  • Y. Butt, A. I. Bhatti
  • Computer Science
  • 2012 International Conference on Emerging Technologies
  • 2012
It is proved that finite time convergence results are valid for conventional sliding surface independent of the application or plant under consideration and condition on initial conditions is derived for finiteTime convergence for the proposed sliding surface. Expand


Output tracking for a non-minimum phase dynamic CTOL aircraft model
A dynamic model for the longitudinal axis of a conventional takeoff and landing (CTOL) aircraft is presented. Non-minimum phase characteristics in this model result from the fact that the process ofExpand
Differential flatness based full authority helicopter control design
  • T. Koo, S. Sastry
  • Engineering
  • Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)
  • 1999
A full authority helicopter control design based on differential flatness is presented. The concept of outer flatness is deployed for the design. The position dynamics and attitude dynamics areExpand
Outer flatness: Trajectory generation for a model helicopter
This paper introduces the concept of outer flatness, a derivative of differential flatness. Outer flatness describes a system that can be split in 2 subsytems, a non-flat inner system and a flatExpand
Real Time Trajectory Generation for Differentially Flat Systems
This paper considers the problem of real time trajectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlinear trackingExpand
Path Planning and Flight Controller Scheduling for an Autonomous Helicopter
The proposed planning strategy reflects the controller architecture and provides a systematic way for generating not only the flight path, but also a suitable switching strategy, i.e. when to switch between the different controllers. Expand
Dynamic surface control for a class of nonlinear systems
A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice. Expand
Design of feedback control systems for stable plants with saturating actuators
A systematic control design methodology is introduced for multi-input/multi-output stable open-loop plants with multiple saturations. The idea is to introduce a supervisor loop so that when theExpand
Vision guided landing of an unmanned air vehicle
In this paper, we study the problem of using computer vision as a sensor to control the landing of an unmanned air vehicle (UAV). The vision problem we address is a special case of the generalExpand
Mode Switching Synthesis for Reachability Specifications
This paper proposes a framework for determining the sequence of control modes that will satisfy reachability tasks, and exploits the structure of output tracking controllers in order to extract a finite graph where the mode switching problem can be efficiently solved. Expand
A comprehensive study of control design for an autonomous helicopter
We compare three different control methodologies for helicopter autopilot design: linear robust multivariable control, fuzzy logic control with evolutionary tuning, and nonlinear tracking control.Expand