Robot Dynamics and Control
Nonlinear Control Systems
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Non-Linear Control for Underactuated Mechanical Systems
Non-Linear Control for Underactuated Mechanical Systems
Nonlinear modelling and control of helicopters
Automatica (Journal of IFAC)
Flight validation of a feedforward gust-attenuation controller for an autonomous helicopter
Robotics and Autonomous Systems
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The purpose of this paper is to present the stabilization (tracking) with motion planning of a reduced-order model having 3 Degrees Of Freedom (DOF). This last one represents a scale model helicopter mounted on an experimental platform. It deals with the problem of disturbance reconstruction acting on the autonomous helicopter, the disturbance consists in vertical wind gusts. The objective is to compensate these disturbances and to improve the performances of the control. Consequently, a nonlinear simple model with 3DOF of a helicopter with unknown disturbances is used. Three approaches of robust control are compared via simulations: a robust nonlinear feedback control, an active disturbance rejection control based on a nonlinear extended state observer and backstepping control.