Nonlinear H helicopter hovering control and implementation using CSIA

Chien Chung Kung, Ciann Dong Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper applies the nonlinear H control theory to helicopter hovering manuver whose complete six degree-of-freedom nonlinear equations of motion with coupled rotor and inflow dynamics are considered directly without linearization. Under this approach, the exact nonlinear equations governing both the longitudinal and lateral motions are considered. The control surface inverse algorithm (CSIA) developed in this paper to implement the nonlinear H control surface deflections is based on Moore-Penrose generalized inverse. The implement technique is constructed based on minimizing the global errors between the nonlinear H commands and actual control forces and moments. The separation principle of nonlinear H hovering control is verified by CSIA under actuator with saturation and rate limit.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9783952417379
Publication statusPublished - 2003 Apr 13
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: 2003 Sept 12003 Sept 4

Publication series

NameEuropean Control Conference, ECC 2003


Other2003 European Control Conference, ECC 2003
Country/TerritoryUnited Kingdom

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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