Time-Optimal Control of a Hovering Quad-Rotor Helicopter

  title={Time-Optimal Control of a Hovering Quad-Rotor Helicopter},
  author={Li-Chun Lai and Chi-Ching Yang and Chia-Ju Wu},
  journal={Journal of Intelligent and Robotic Systems},
The time-optimal control problem of a hovering quad-rotor helicopter is addressed in this paper. Instead of utilizing the Pontryagin's Minimum Principle (PMP), in which one needs to solve a set of highly nonlinear differential equations, a nonlinear programming (NLP) method is proposed. In this novel method, the count of control steps is fixed initially and the sampling period is treated as a variable in the optimization process. The optimization object is to minimize the sampling period such… Expand
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