An integrator backstepping controller for a standard helicopter
Liu, Yitao
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https://hdl.handle.net/2142/16818
Description
Title
An integrator backstepping controller for a standard helicopter
Author(s)
Liu, Yitao
Issue Date
2010-08-20T17:58:46Z
Director of Research (if dissertation) or Advisor (if thesis)
Spong, Mark W.
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
integrator backstepping controller
standard helicopter model
Abstract
This thesis investigates the use of an integrator backstepping controller for a standard helicopter. First, a dynamic model of the helicopter in hovering condition is obtained through the use of Newton-Euler equations. Next, the idea of an integrator backstepping controller is examined followed by the derivation of the actual controller. Finally, simulation results from MATLAB are analyzed and potential future work is proposed.
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