• Corpus ID: 2314195

NONLINEAR CONTROL OF A HELICOPTER BASED UNMANNED AERIAL VEHICLE MODEL

@inproceedings{Koo2001NONLINEARCO,
  title={NONLINEAR CONTROL OF A HELICOPTER BASED UNMANNED AERIAL VEHICLE MODEL},
  author={T. John Koo and Man Hyung Yi and S. Shankar Sastry},
  year={2001}
}
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… 

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