By Topic

Flight control design for a nonlinear non-minimum phase VTOL aircraft via two-step linearization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Saeki, M. ; Fac. of Eng., Hiroshima Univ., Japan ; Sakaue, Y.

In this paper, we offer a new design method for the flight control of a nonlinear nonminimum phase VTOL aircraft. The nonminimum phase property is caused by the small coupling between rolling moments and lateral acceleration, and a few researchers have derived control laws by neglecting the coupling. We show that the true model can be transformed equivalently into a model with zero coupling by changing the plant output from the center of mass to the Huygens center of oscillation. Then, we design a controller by applying a linear high gain approximation of backstepping to the model; we call this method a two-step linearization. Computer simulation shows that the control law robustly stabilizes the true model with good tracking for both small and large couplings. Experiments using a twin rotor helicopter model also show equally good performance

Published in:

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:1 )

Date of Conference:

2001