Matrix analysis
Robust full degree-of-freedom tracking control of a helicopter
Automatica (Journal of IFAC)
Aided Navigation: GPS with High Rate Sensors
Aided Navigation: GPS with High Rate Sensors
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Experimental Validation of a Helicopter Autopilot Design using Model-Based PID Control
Journal of Intelligent and Robotic Systems
Control-Oriented Physical Input Modelling for a Helicopter UAV
Journal of Intelligent and Robotic Systems
Control-Oriented Physical Input Modelling for a Helicopter UAV
Journal of Intelligent and Robotic Systems
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Small helicopter dynamics are coupled, nonlinear, and underactuated. Therefore, helicopter control poses a challenging problem which is of wide interest due to possible applications. Although helicopter UAV control is an applied research field, there are relatively few experimental results. Previously published experimental results for attitude control are extended to include position control for time-varying reference trajectories. The translational control is derived in both the navigation and body-fixed frames, and the resulting expressions are shown to be locally equivalent. Closed-loop stability is shown using a Lyapunov analysis and conditions for asymptotic stability on the gains are derived.