Nonlinear H/sub /spl infin// decoupling control for hovering helicopter

Although longitudinal and lateral dynamics of helicopters in hovering are highly nonlinear and severely coupled, we will show in this paper that the nonlinear six degree-of-freedom H/sub /spl infin// controller designed for hovering helicopters can be exactly separated into two three degree-of-freedom controllers, one for translational motion and the other for rotational motion.