# 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…

## 24 Citations

### Optimal Control Designing for a Discrete Model of Helicopter in Hover

- Mathematics2012 International Conference on Control Engineering and Communication Technology
- 2012

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…

### Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor Helicopter

- Engineering
- 2008

### Flight control of a small helicopter in unknown wind conditions

- Engineering49th IEEE Conference on Decision and Control (CDC)
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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

- Mathematics, EngineeringOptimal Control Applications and Methods
- 2018

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

- Engineering, Mathematics
- 2008

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

- EngineeringProceedings of the 31st Chinese Control Conference
- 2012

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

- Mathematics, EngineeringProceedings World Automation Congress, 2004.
- 2004

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

- Engineering, Mathematics2008 International Conference on Smart Manufacturing Application
- 2008

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

- Engineering, MathematicsSensors
- 2019

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

- Engineering, Mathematics2012 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.

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