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When a helicopter is required to hover with minimum deviations from a desired position without measurements of a persistent wind disturbance, a robustly stabilizing control action is vital. In this paper, the stabilization of the position and translational velocity of a nonlinear helicopter model affected by a wind disturbance is addressed. The wind disturbance is assumed to be a sum of a fixed number...
This paper presents a helicopter dynamic model controlled by a nonlinear output feedback controller. Particular emphasis is placed on the mathematical modeling of the main rotor dynamics, i.e., modeling the individual dynamics of the blades and the dynamics of the main rotor stabilizing bar. Since the derived model is highly nonlinear, an output feedback controller that uses a nonlinear observer is...
The contribution of this paper is the development of a nonlinear position controller for a quadrotor VTOL aircraft using feedback linearization with dynamic extension. The developed controller completely decouples and linearizes the nonlinear dynamical model of the aircraft. The use of dynamic extension has resulted into a fourteenth dimensional controller for the the twelve dimensional state system...
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