Nonlinear modelling and control of helicopters
type: Item
instance of: scholarly article
title: Nonlinear modelling and control of helicopters
zbMATH Open document ID: 1029.93046
DOI: 10.1016/S0005-1098(03)00168-7
published in: Automatica
publication date: 2003-08-17T00:00:00Z
review text: This paper presents the development of a nonlinear helicopter model in vertical flight (takeoff, climbing, hover, decent and landing). Such a mathematical model is much simpler than the ``free-flying'' case and may be limited only to 3-DOF. In control design the authors assume that the operation is split into two main phases: 1. start up and takeoff and 2. vertical flight. In the first phase, the feedback control has to guarantee asymptotic stability of the tracking errors when the helicopter is at rest on the ground and at takeoff. In the second phase the helicopter takes off, and the controller guarantees the asymptotic tracking of the preceding errors. The robustness properties are studied by computing a quadratic criterion which includes all main coordinates. The experimental model was mounted on a platform, thereby avoiding the ground effect. So the effects of compressed air in takeoff and landing are neglected. The authors state that because the generalized forces are nonlinear, the resulting control problem is different than the one usually considered in the literature.
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93A30
Mathematics Subject Classification ID: 93B51
zbMATH DE Number: 1965014
zbMATH Keywords: Nonlinear systems
zbMATH Keywords: Nonlinear control
zbMATH Keywords: Underactuated system
zbMATH Keywords: Helicopter
zbMATH Keywords: Drone
zbMATH Keywords: Aerodynamics
zbMATH Keywords: vertical flight
zbMATH Keywords: tracking
author: Juan Carlos Ávila Vilchis
author: B. Brogliato
author: Alejandro Dzul
author: Rogelio Lozano
reviewed by: Yuri N. Sankin
MaRDI profile type: Publication
cites work: Nonlinear autopilot control design for a 2-DOF helicopter model
cites work: Q3029380
cites work: Dynamics and control of a class of underactuated mechanical systems
cites work: Q4282249
full work available at URL: s0005-1098(03)00168-7
OpenAlex ID: W2050415548
Recommended article: Robust nonlinear motion control of a helicopter
Recommended article: Robust nonlinear control for a model-scaled helicopter with parameter uncertainties
Recommended article: Nonlinear optimized adaptive trajectory control of helicopter
Recommended article: Q3596088
Recommended article: Nonlinear \(L_{2}\) control of a laboratory helicopter with variable speed rotors
Recommended article: Nonlinear regular and chaotic dynamics of a helicopter
Recommended article: Hierarchical hybrid modelling and control of an unmanned helicopter
Recommended article: Nonlinear robust control of a small-scale helicopter on a test bench
Recommended article: Nonlinear feedback control of axisymmetric aerial vehicles
Recommended article: Kinematic Nonlinear Controller for a Miniature Helicopter via Lyapunov Techniques
description: scientific article; zbMATH DE number 1965014