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 Conference: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, Volume: 3 Source: IEEE Xplore

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**ABSTRACT:**The flying mechanism of birds and big insects, especially the rules of wings motion in flight, are investigated. Some details of mechanical frame are also considered. The entire dynamic model of flight attitude for Micro Flapping-wing Aerial Robot(MFAR) is developed. The design of attitude controller is challenging due to the complexity of the flight process, and the heavy difficulties are system uncertainty, nonlinearity, multi-variable coupled parameters, and all kinds of disturbances. To these difficulties, the system is decomposed into nominal model and uncertain item. An adaptive sliding mode controller is constructed, which not only has a good robustness for the uncertainty but also overcomes the quivering in the control input of conventional sliding mode control. Simulation results are presented to verify the validity of the dynamic model and the control strategy.01/2010; - [Show abstract] [Hide abstract]

**ABSTRACT:**In this paper, the longitudinal-lateral attitude control and fault self-repairing of a small helicopter is investigated using fuzzy feedforward and quantum control techniques. The Lagrange-Euler equation is used to derive a mathematical model of the helicopter flight dynamics. To handle the complex faults of the helicopter flight system, a model reference-based self-repairing control law is proposed using quantum control techniques, which can improve the helicopter’s self-repairing and control precision. In addition, a fuzzy feedforward compensation controller is designed to improve the anti-disturbance performance. Finally, simulation results are given to illustrate the effectiveness of the developed intelligent self-repairing controller.Cognitive Computation 12/2012; 4(4). · 1.10 Impact Factor -
##### Article: PVTOL maneuvers guided by a high-level nonlinear controller applied to a rotorcraft machine

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**ABSTRACT:**This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers here addressed are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles, due to the flight constraints: movement restricted to the Z axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.European Journal of Control 04/2014; · 0.79 Impact Factor

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