Flight control design using non-linear inverse dynamics
Automatica (Journal of IFAC)
Robust Autonomous Guidance
Modelling and Control of Mini-Flying Machines
Modelling and Control of Mini-Flying Machines
Nonlinear modelling and control of helicopters
Automatica (Journal of IFAC)
System Identification and Discrete Nonlinear Control of Miniature Helicopters Using Backstepping
Journal of Intelligent and Robotic Systems
Brief paper: Design and implementation of an autonomous flight control law for a UAV helicopter
Automatica (Journal of IFAC)
An adaptive system identification method for a micro unmanned helicopter robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Journal of Intelligent and Robotic Systems
Control-Oriented Physical Input Modelling for a Helicopter UAV
Journal of Intelligent and Robotic Systems
Model-Based Helicopter UAV Control: Experimental Results
Journal of Intelligent and Robotic Systems
Hi-index | 22.15 |
We consider the problem of controlling the vertical, lateral, longitudinal and yaw attitude motion of a helicopter along desired arbitrary trajectories with only restrictions on the time derivatives imposed by the functional controllability of the system. To this purpose we design a nonlinear controller, obtained by suitably combining feedforward control actions and high-gain and nested saturation feedback laws, which succeeds in enforcing the desired trajectories robustly with respect to uncertainties characterizing the physical and aerodynamical parameters of the helicopter. Experimental results are also given to show the effectiveness of the method to accomplish aggressive maneuvers.