Modeling and nonlinear control for a coaxial helicopter

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 27 Aug 2003Publisher:IEEEJournal:IEEE International Conference on Systems, Man and Cybernetics, volume vol.6, page 6

Authors: Alejandro Dzul; Tarek Hamel; Rogelio Lozano;

doi: 10.1109/icsmc.2002.1175550

Modeling and nonlinear control for a coaxial helicopter

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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.

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University of Évry Val d'Essonne
France

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