• 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

Inverse optimal control for unmanned aerial helicopters with disturbances

This paper proposes an optimal control method of an unmanned aerial helicopter (UAH) with unknown disturbances. Solving the Hamilton‐Jacobi‐Bellman (HJB) equation is considered as the common approach

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

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.



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.

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.

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.

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.

Application of nonlinear transformations to automatic flight control