Title :
Modeling and nonlinear control for a coaxial helicopter
Author :
Dzul, A. ; Hamel, T. ; Lozano, R.
Author_Institution :
Centre de Recherches de Royallieu, Univ. de Technol. de Compiegne, France
Abstract :
In this paper a simplified model and a nonlinear control algorithm for a coaxial helicopter are presented. The model of the helicopter dynamics is obtained in hover conditions. By neglecting the small body forces due to the mechanism used to obtain the torque control, a dynamic controller, based on backstepping techniques, is developed. Some simulation results are presented to illustrate the performance of such a controller.
Keywords :
Lyapunov methods; aircraft control; dynamics; helicopters; nonlinear control systems; torque control; Lyapunov methods; backstepping; coaxial helicopter; dynamics; nonlinear control systems; recursive control; torque control; unmanned aerial vehicle; Blades; Coaxial components; Electronic mail; Fasteners; Helicopters; Nonlinear dynamical systems; Tail; Torque control; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
Systems, Man and Cybernetics, 2002 IEEE International Conference on
Print_ISBN :
0-7803-7437-1
DOI :
10.1109/ICSMC.2002.1175550
