Conference Paper

Adaptive altitude control for a small helicopter in a vertical flying stand

Div. de Estudios de Posgrado e Investigacion, Inst. Tecnologico de la Laguna, Mexico
DOI: 10.1109/CDC.2003.1273033 In proceeding of: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT In this paper, we focus on the design and implementation of a controller for a two degree-of-freedom system. This system is composed of a small-scale helicopter which is mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical pole-placement techniques for the yaw dynamics and adaptive pole-placement for the altitude dynamics. Experimental results show the performance of such a controller.

  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper, a robust altitude control for small RC helicopters near ground surface is proposed. Stable takeoff, landing and hovering near surface are realized by both ground effect compensation and robust sliding mode control which suppresses the modeling error of dynamics and ground effect. To prevent the steady state error induced by the boundary layer which is indispensable to avoid chattering phenomena, integral sliding mode function is introduced which achieves asymptotic convergence to the desired altitude with continuous control input. We verified the robustness and effectiveness of the proposed control method through experiments of a RC small scale helicopter on hovering control near ground surface and external disturbance attenuation.
    American Control Conference (ACC), 2011; 08/2011
  • [Show abstract] [Hide abstract]
    ABSTRACT: This work proposes a nonlinear controller for an autonomous helicopter, to track a given 3D trajectory. The starting point is a dynamic model obtained using the Euler-Lagrange formulation, considering the aircraft as a rigid body. The first contribution is the proposal of a suitable control law considering the nonlinear model, with no linearization strategy, and a proof of the stability of the closed-loop system that embeds such controller. The second contribution is the fact that the proposed controller is based on the inverse dynamics, focusing on its underactuated-system character. Finally, simulation results are presented and discussed, which validate the proposed controller.
    Industrial Technology (ICIT), 2010 IEEE International Conference on; 04/2010
  • [Show abstract] [Hide abstract]
    ABSTRACT: The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated, and some details of mechanical frame are also considered. The entire dynamic model of flight attitude of flapping wing micro aerial vehicle (FWMAV) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulty includes the system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To control the attitude movement effectively, an adaptive robust control scheme is proposed to decompose the system into nominal model, structured uncertainties, and unstructured uncertainty. For them, direct feedback controller, adaptive controller, and robust controller are constructed respectively. Simulation results are presented to verify the validity of the dynamic model and the control strategy.
    Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on; 01/2010


Available from