Title :
Hover control via Lyapunov control for an autonomous model helicopter
Author :
Mahony, R. ; Hamel, Tarek ; Dzul, A.
Author_Institution :
Centre de Recherche de Royallieu, Compiegne, France
fDate :
6/21/1905 12:00:00 AM
Abstract :
A dynamic model based on physical insight is proposed for a reduced scale autonomous helicopter. There are several important differences between a system of this nature and that of a full sized helicopter model. By approximating the model obtained by one in which the small body forces associated with the torque control are ignored a block pure feedback form is obtained and a Lyapunov control design using backstepping techniques is proposed. An analysis of the proposed control law is presented
Keywords :
Lyapunov methods; aircraft control; control system synthesis; feedback; helicopters; torque control; Lyapunov control design; autonomous model helicopter; backstepping techniques; block pure feedback form; dynamic model; hover control; reduced scale autonomous helicopter; torque control; Aerodynamics; Backstepping; Control design; Control systems; Displays; Force control; Force feedback; Helicopters; Satellite ground stations; Torque control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827874
