Trajectory tracking control design for autonomous helicopters using a backstepping algorithm

By Emilio Frazzoli, Munther A. Dahleh, Eric M. Feron. Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), 2000

296 citations recorded by the source corpus.

Subfields: Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/ae50d9ac361fa8c1914a166dbd14f2b2cef13821

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Control and Systems Engineering

Citations in the corpus

Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles (2001, methodology): “This singularity is inherent in the dynamics of the helicopter and is impossible to avoid regardless of any parameterization of the attitude [31].”
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty (2007, background): “, trajectories that specify the time evolution of the position, orientation, as well as the linear and angular velocities, all consistent with the vehicles’ dynamics, [8], [13], [15]–[20], even through in practical applications one often only needs to track a desired position.”
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems (2012, methodology): “As mentioned in the previous paragraph, rigid-body models are most often used for control design without comprehensive validation against flight data (Bisgaard et al., 2010; Castillo et al., 2004; Frazzoli et al., 2000; Guenard et al., 2008; Johnson & Kannan, 2005; Kendoul et al., 2010; Penga et al.”
Robust trajectory tracking for a scale model autonomous helicopter (2004, background): “This is particularly interesting when one considers a trajectory constructed from piecewise smooth template trajectories, such as trimming trajectories [7, 28, 29].”
Maneuver-based motion planning for nonlinear systems with symmetries (2005, methodology): “Finally, note that the controller in [23] is not designed to minimize a physically meaningful cost.”