Title

Nonlinear Control Techniques for Regulating the Altitude of a Radio/Control Helicopter

Abstract

This article approaches the problem of obtaining adequate nonlinear control laws to regulate the vertical position of a Radio/Control helicopter on a platform. Two different approaches are considered: the first uses singular perturbation formulation for the three-time scale helicopter model, while the second approach solves the problem using a suboptimal control techniques (SDRE and theta−D approximation). All proposed control laws achieve the desired altitudes with comparable control efforts, but the distinct nature of the methods open new ways of approaching nonlinear control problems by taking advantage of the best properties of each control methodology regarding real-time implementation.

Department(s)

Mechanical and Aerospace Engineering

Sponsor(s)

MCyT-FEDER

Keywords and Phrases

Attitude Heading Reference System; Nonlinear Control Laws; Real Time Platforms; Theta-D

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2008 American Institute of Aeronautics and Astronautics (AIAA), All rights reserved.


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