Robust trajectory tracking for a scale model autonomous helicopter
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]
|Collections||ANU Research Publications|
|Source:||International Journal of Robust and Nonlinear Control|
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