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Robust trajectory tracking for a scale model autonomous helicopter

Mahony, Robert; Hamel, Tarek


This paper considers the question of obtaining an a priori bound on the tracking performance, for an arbitrary trajectory, of closed-loop control of an idealized model of a scale model autonomous helicopter. The problem is difficult due to the presence of small body forces that cannot be directly incorporated into the control design. A control Lyapunov function is derived for an approximate model (in which the small body forces are neglected) using backstepping techniques. The Lyapunov function...[Show more]

CollectionsANU Research Publications
Date published: 2004
Type: Journal article
Source: International Journal of Robust and Nonlinear Control
DOI: 10.1002/rnc.931


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