Output Tracking Control Design of a Helicopter Model Based on Approximate Linearization

  title={Output Tracking Control Design of a Helicopter Model Based on Approximate Linearization},
  author={T. John Koo and Shankar Sastry},
In this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for several choices of output variables exact input-output linearization fails to linearize the whole state space and results in having unstable zero dynamics. By neglecting the couplings between moments and forces, we show that the approximated system with dynamic decoupling is full state linearizable… CONTINUE READING
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Nonlin - ear control design for slightly nonminimum phase system : Application to V / STOL aircraft

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