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For a four-rotor mini helicopter, an adaptive controller is presented based on Immersion and Invariance (I&I) approach. Although there are many aerodynamic coefficients such as thrust coefficients and drag coefficients with uncertainty in the model, a new parameterization with a fewer uncertain coefficients is developed to simplify the complex multivariable parameter adaptation. It is shown that...
An alternative way to control a nonlinear system, such as a two Degree Of Freedom helicopter, is the linearization of the model around an equilibrium point, in this case, an equilibrium point around the Pitch angle. Subsequently, the design a Robust Controller for this system is done, using a the DK iteration method. However, when a variation of an angle such as its uncertainty is modeled, the performance...
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