Abstract
A simple model of the dynamics of a scale model autonomous helicopter is considered. A stabilising control law is designed which guarantees the control inputs remain bounded by pre-specified control actuator limits. The approach taken exploits a combination of three non-linear control design techniques: Firstly, a passivity design technique is used to achieve practical stabilisation of the non-linear attitude dynamics of the system. Secondly, the remaining parasitic attitude dynamics are input/output linearised. Finally, forwarding techniques are used to generate a control Lyapunov function and associated control input that robustly globally asymptotically and locally exponentially stabilises the full system.
| Original language | English |
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| Pages (from-to) | 3960-3965 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 4 |
| Publication status | Published - 2003 |
| Event | 42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: 9 Dec 2003 → 12 Dec 2003 |