• 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… 

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 not

Flight control of a small helicopter in unknown wind conditions

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 servo

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 the

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 equilibrium

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 and

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. A

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 of

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.

Robust altitude tracking of a helicopter using sliding mode control structure

  • Y. ButtA. I. Bhatti
  • Engineering, Mathematics
    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.

Survey of Unmanned Helicopter Model-Based Navigation and Control Techniques

The results of this study were driven by and has led to the development of a ‘one-fits-all’ comprehensive and modular navigation controller and timing architecture applicable to any rotorcraft platform.



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 of

Differential flatness based full authority helicopter control design

  • T. J. KooS. Sastry
  • Mathematics
    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 are

Real Time Trajectory Generation for Differentially Flat Systems

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.

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 the

Vision guided landing of an unmanned air vehicle

This paper proposes a new geometric estimation scheme for solving the differential version of the planar ego-motion estimation problem, which is computationally inexpensive and amenable for real-time implementation.

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.

Application of nonlinear transformations to automatic flight control

A Lie-Backlund approach to equivalence and flatness of nonlinear systems

The authors prove that, although the state dimension is not preserved, the number of input channels is kept fixed and it is proved that a Lie-Backlund isomorphism can be realized by an endogenous feedback.

Hierarchical Hybrid System Design on Berkeley UAV

The system design deploys the architecture of a Flight Vehicle Management System, FVMS, which combines planning and control, which involves the interaction of continuous dynamics and discrete events is a hybrid system.