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This paper presents a novel application of a two-time scale controller, using adaptive backstepping technique, for the hover flight control of a Rotary wing Unmanned Aerial Vehicle (RUAV). Flapping and servo dynamics, important from a practical point of view, are included in the RUAV model. The two-time scale controller takes advantage of the `decoupling' of the translational and rotation dynamics...
This paper presents a novel application of the two-time scale controller for the full envelop flight control of a Rotary wing Unmanned Aerial Vehicle (RUAV). In this paper flapping and servo dynamics, important from a practical point of view, is included in the RUAV model. The two-time scale controller takes advantage of the `decoupling?? of the nonlinear translational and rotation dynamics of the...
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