Time Domain Parameter Estimation and Applied Discrete Nonlinear Control 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)


This Chapter deals with the dual problem of parameter estimation and nonlinear discrete control of helicopters. The objective is to develop a practical identification and control solution for direct application to an autonomous helicopter flight system. Although most controller designs are in continuous time, this Chapter considers the discrete time dynamics of the helicopter. The shift of the helicopter control problem to discrete time is twofold: Control algorithms are executed by microprocessors. The discretization effect of the helicopter dynamics should be incorporated into the controller design. In addition, time domain parametric identification is much simpler and computationally more efficient when the system equations are discretized.


Controller Design Recursive Least Square Control Command Nonlinear Controller Recursive Least Square Algorithm 
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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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