@inproceedings{01a5c1095c794fdd811ef7dcf5ce4c3b,
title = "Path following controller design for miniature unmanned helicopters",
abstract = "This paper presents a design of path following controller for miniature unmanned helicopters which is easily realized in practice. The controller is implemented using two-time-scale separation architecture, and thus composed of an outer-loop for path following and an inner-loop for attitude control. This paper specifically focuses on the path following design in outer-loop controller. In view of the characteristics of the helicopter's manoeuvring response and stability requirement of the path following controller, the outer-loop using offset-distance and expected velocity to design the path following controller expressed by attitude angle, and then proves asymptotic stability of closed-loop system. Finally, a six degrees of freedom linear identification-based dynamical model is presented in this paper, and simulation study shows the performance of the controller.",
keywords = "Miniature Unmanned helicopter, Offset-distance, Path following, Time-scale Separation",
author = "Wei Huo and Qiang Wang",
year = "2011",
language = "英语",
isbn = "9789881725592",
series = "Proceedings of the 30th Chinese Control Conference, CCC 2011",
pages = "3537--3542",
booktitle = "Proceedings of the 30th Chinese Control Conference, CCC 2011",
note = "30th Chinese Control Conference, CCC 2011 ; Conference date: 22-07-2011 Through 24-07-2011",
}