Trajectory tracking control design for autonomous helicopters using a backstepping algorithm

Emilio Frazzoli, Munther A. Dahleh, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

206 Scopus citations

Abstract

In this paper we present a tracking controller for a class of underactuated mechanical systems, based on a backstepping procedure. This class includes an approximation of small helicopter dynamics. The need to avoid artificial singularities due to the attitude representation is the main driver behind the control design presented in this paper: to achieve this goal, we will operate directly in the configuration manifold of the vehicle. The control design provides asymptotic tracking for an approximate model of small helicopters, and bounded tracking when more complete models are considered. Simulation examples, including both point stabilization and aggressive maneuver tracking, are presented and discussed. © 2000 American Automatic Control Council.
Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages4102-4107
Number of pages6
DOIs
StatePublished - Dec 1 2000
Externally publishedYes

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