Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H. Ang, Oussama Khatib, Bruno Siciliano

Modelling and Control of Robotic Helicopters

Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_65-1



Robotic helicopters are unmanned helicopters (without onboard pilot) with autonomous functionalities, including, at least, autonomous control. Usually there are outer and inner loops to control helicopters. The conventional helicopters have a main rotor to generate the lift and the thrust that counteracts aerodynamic drag and a tail rotor to compensate the torque of the main rotor. The outer loop controls the translational dynamic calculating the translational accelerations to reduce the deviations in positioning errors. These accelerations are converted into the desired orientation for the main rotor plane and the desired lifting force. The inner loop computes the torques that should be generated to control the rotational dynamics maintaining the desired orientation angles. A third control loop is used to control the yaw angle by...

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Authors and Affiliations

  1. 1.GRVC Robotics Lab SevillaUniversidad Pablo de OlavideSevilleSpain
  2. 2.Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)Munich (Wessling)Germany
  3. 3.GRVC Robotics Lab SevillaUniversidad de SevillaSevilleSpain

Section editors and affiliations

  • Aníbal Ollero
    • 1
  1. 1.GRVC Robotics Labs. SevillaEscuela Técnica Superior de Ingeniería, Universidad de SevillaSevillaSpain