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Nonlinear Modeling and Control of a 3 DOF Helicopter

[+] Author Affiliations
A. Chriette, F. Plestan, M. Odelga

Ecole Centrale de Nantes, Nantes, France

Paper No. ESDA2012-82555, pp. 785-793; 9 pages
  • ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control
  • Nantes, France, July 2–4, 2012
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4484-7
  • Copyright © 2012 by ASME


This paper presents a novel autopilot for a 3D helicopter. From desired trajectories defined by the user for elevation and travel angles, the autopilot is computing the desired trajectory of the pitch angle. Furthermore, the autopilot allows to decouple the system and to define “virtual” inputs in order to separately design controllers for each attitude angle. Travel and elevation controllers are based on adaptive version of super-twisting algorithm: this class of controllers keeps the robustness feature of sliding mode while reducing the well-known drawback of such control approach, the chattering, thanks to the online adaptation of the controller gain.

Copyright © 2012 by ASME



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