Dynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot
Journal of Intelligent and Robotic Systems
Brief paper: Nonlinear L2 control of a laboratory helicopter with variable speed rotors
Automatica (Journal of IFAC)
Robust full degree-of-freedom tracking control of a helicopter
Automatica (Journal of IFAC)
Dynamic Modelling and Stability Analysis of Model-Scale Helicopters Under Wind Gust
Journal of Intelligent and Robotic Systems
Real-coded genetic algorithm for parametric modelling of a TRMS
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Experimental framework for a ducted-fan miniature aerial vehicle
ACC'09 Proceedings of the 2009 conference on American Control Conference
Generic nonlinear model of reduced scale UAVs
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
An adaptive system identification method for a micro unmanned helicopter robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
An on-line learning neural controller for helicopters performing highly nonlinear maneuvers
Applied Soft Computing
Adaptive neural network control of helicopters
ISNN'06 Proceedings of the Third international conference on Advances in Neural Networks - Volume Part III
Hi-index | 22.15 |
This paper presents the development of a nonlinear model and of a nonlinear control strategy for a VARIO scale model helicopter. Our global interest is a 7-DOF (degree-of-freedom) general model to be used for the autonomous forward-flight of helicopter drones. However, in this paper we focus on the particular case of a reduced-order model (3-DOF) representing the scale model helicopter mounted on an experimental platform. Both cases represent underactuated systems (u@?R^4 for the 7-DOF model and u@?R^2 for the 3-DOF model studied in this paper). The proposed nonlinear model possesses quite specific features which make its study an interesting challenge, even in the 3-DOF case. In particular aerodynamical forces result in input signals and matrices which significantly differ from what is usually considered in the literature on mechanical systems control. Numerical results and experiments on a scale model helicopter illustrate the theoretical developments, and robustness with respect to parameter uncertainties is studied.