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Forwarding control of scale model autonomous helicopter: A Lyapunov control design

Mazenc, Frederic; Mahony, Robert; Lozano, Rogelio


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...[Show more]

CollectionsANU Research Publications
Date published: 2003
Type: Conference paper
Source: Proceedings of the 42nd IEEE Conference on Decision and Control


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