DocumentCode
3122619
Title
Modeling and nonlinear control for a coaxial helicopter
Author
Dzul, A. ; Hamel, T. ; Lozano, R.
Author_Institution
Centre de Recherches de Royallieu, Univ. de Technol. de Compiegne, France
Volume
6
fYear
2002
fDate
6-9 Oct. 2002
Abstract
In this paper a simplified model and a nonlinear control algorithm for a coaxial helicopter are presented. The model of the helicopter dynamics is obtained in hover conditions. By neglecting the small body forces due to the mechanism used to obtain the torque control, a dynamic controller, based on backstepping techniques, is developed. Some simulation results are presented to illustrate the performance of such a controller.
Keywords
Lyapunov methods; aircraft control; dynamics; helicopters; nonlinear control systems; torque control; Lyapunov methods; backstepping; coaxial helicopter; dynamics; nonlinear control systems; recursive control; torque control; unmanned aerial vehicle; Blades; Coaxial components; Electronic mail; Fasteners; Helicopters; Nonlinear dynamical systems; Tail; Torque control; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 2002 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-7437-1
Type
conf
DOI
10.1109/ICSMC.2002.1175550
Filename
1175550
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