Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.automatica.2009.06.016
Title: Design and implementation of an autonomous flight control law for a UAV helicopter
Authors: Peng, K. 
Cai, G. 
Chen, B.M. 
Dong, M. 
Lum, K.Y. 
Lee, T.H. 
Keywords: Autonomous flight control
Helicopter systems
Nonlinear control
Unmanned aerial vehicle
Issue Date: Oct-2009
Citation: Peng, K., Cai, G., Chen, B.M., Dong, M., Lum, K.Y., Lee, T.H. (2009-10). Design and implementation of an autonomous flight control law for a UAV helicopter. Automatica 45 (10) : 2333-2338. ScholarBank@NUS Repository. https://doi.org/10.1016/j.automatica.2009.06.016
Abstract: In this paper, we present the design and implementation of an autonomous flight control law for a small-scale unmanned aerial vehicle (UAV) helicopter. The approach is decentralized in nature by incorporating a newly developed nonlinear control technique, namely the composite nonlinear feedback control, together with dynamic inversion. The overall control law consists of three hierarchical layers, namely, the kernel control, command generator and flight scheduling, and is implemented and verified in flight tests on the actual UAV helicopter. The flight test results demonstrate that the UAV helicopter is capable of carrying out complicated flight missions autonomously. © 2009 Elsevier Ltd. All rights reserved.
Source Title: Automatica
URI: http://scholarbank.nus.edu.sg/handle/10635/55547
ISSN: 00051098
DOI: 10.1016/j.automatica.2009.06.016
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