Linear Tracking Controller Design for Small-Scale Unmanned Helicopters

  • Ioannis A. RaptisEmail author
  • Kimon P. Valavanis
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 45)


The previous Chapter presented an analytical methodology for the extraction of a linear dynamic model for a small-scale helicopter based on (Mettler in Identification Modeling and Characteristics of Miniature Rotorcraft, Kluwer Academic Publishers, Norwell, 2003; Tischler and Remple in Aircraft and Rotorcraft System Identification, AIAA Education Series, AIAA, Washington, 2006) . Modern control techniques are model based, in the sense that the controller architecture depends on the dynamic description of the system. Therefore, the knowledge of the helicopter linear dynamic model is very valuable for designing (autonomous) flight controllers. This Chapter presents a systematic procedure for the design of a flight controller based on the linear dynamic representation of the helicopter. The controller objective is for the helicopter to track predefined reference trajectories of the inertial position and the yaw angle.


Controller Design Output Feedback Error Dynamic Proportional Integral Derivative Linear Quadratic Regulator 
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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringGeorgia Institute of TechnologyAtlantaUSA
  2. 2.Department of Electrical and Computer Engineering, and, Department of Computer Science, School of Engineering and Computer ScienceUniversity of DenverDenverUSA

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