DocumentCode
697076
Title
Helicopter´s nonlinear control via backstepping techniques
Author
Dzul, A. ; Hamel, T. ; Lozano, R.
Author_Institution
Centre de Rech. de Royallieu, Heudiasyc, Compiegne, France
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
463
Lastpage
468
Abstract
In this paper a Lyapunov control algorithm for a small scale autonomous model helicopter is obtained using robust backstepping techniques. The controller design does not consider the small body forces. The proposed controller is based on dynamic order reduction for the nonlinear dynamical model. Some simulation results are presented to illustrate the performance of such controller in the presence of the small body forces.
Keywords
Lyapunov methods; aircraft control; autonomous aerial vehicles; control nonlinearities; control system synthesis; helicopters; nonlinear dynamical systems; Lyapunov control algorithm; autonomous model helicopter; backstepping techniques; controller design; dynamic order reduction; helicopter nonlinear control; nonlinear dynamical model; robust backstepping techniques; Atmospheric modeling; Backstepping; Dynamics; Equations; Helicopters; Mathematical model; Rotors; Backstepping; Helicopter Dynamics; Lyapunov Design;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7075950
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