Singularity-free non-linear controller for a model-scaled autonomous helicopter

DOI10.1049/IET-CTA.2015.0565MaRDI QIDQ6950499zbMATH OpenFDO

Authors Yao Zou, Wei Huo

Publication date 30 July 2025

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2015.0565

zbMATH Keywords

aerospace simulationattitude controlattitude trackingautonomous aerial vehiclesbackstepping techniquebarrier Lyapunov functioncommand attitudecontrol nonlinearitiescontroller parameter selectionhelicoptershierarchical inner-outer loop strategyhyperbolic tangent functioninner attitude loop controller designLyapunov methodsmanoeuvre simulationmodel-scaled autonomous helicopternonlinear control systemsobserverobserversouter position loop controller designposition controlposition trackingrobot dynamicssingularity-free nonlinear controllertrajectory controltrajectory trackingunmodelled dynamics

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

Cites work

• Adaptive nonlinear control system design for helicopter robust command augmentation
• An integral predictive/nonlinear \(\mathcal H_{\infty}\) control structure for a quadrotor helicopter
• Immersion and invariance based command-filtered adaptive backstepping control of VTOL vehicles
• Introduction to feedback control of underactuated VTOLvehicles: A review of basic control design ideas and principles
• PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine
• Robust full degree-of-freedom tracking control of a helicopter
• Robust nonlinear control for a model-scaled helicopter with parameter uncertainties

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