Hover control via Lyapunov control for an autonomous model helicopter
- 22 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (01912216) , 3490-3495
- https://doi.org/10.1109/cdc.1999.827874
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
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