Abstract
In this paper, a nonlinear robust control technique is proposed to control the altitude of a small helicopter for hover as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. A heave motion model of small helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the horizontal wind gusts and ground effect. In order to stabilize the vertical dynamics of the UAV helicopter, a recursive (backstepping) design procedure is used to design the robust controller based on Lyapunov approach. Simulation results demonstrate that the proposed robust backstepping controller is capable of controlling the altitude for hover flight of a small helicopter near ground surface in the presence of strong horizontal wind gusts.
| Original language | English |
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| Title of host publication | Proceedings of the 10th World Congress on Intelligent Control and Automation WCICA 2012 |
| Place of Publication | Piscataway, NJ |
| Pages | 1796-1800 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781467313988, 9781467313971, 9781467313964 |
| DOIs | |
| Publication status | Published - 2012 |
| Externally published | Yes |
| Event | 10th World Congress on Intelligent Control and Automation, WCICA 2012 - Beijing, China Duration: 6 Jul 2012 → 8 Jul 2012 |
Conference
| Conference | 10th World Congress on Intelligent Control and Automation, WCICA 2012 |
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| Country/Territory | China |
| City | Beijing |
| Period | 6/07/12 → 8/07/12 |