High-level Nonlinear Autopilot for a Miniature Helicopter via Lyapunov's Technique

LUCIO SALINAS; EMANUEL SLAWIÑSKI; VICENTE MUT

Buenos Aires, Argentina

Jornada; JAR 2010; 2010

This work proposes a high-level nonlinear controller(autopilot) for an autonomous helicopter that generates saturated reference velocity commands for accurate waypoint trajectory tracking with heading control. The design of the autopilot is based on Lyapunov’s technique with a special choice of the system state equations using spherical coordinates. Stability of the control system is proved. Finally, simulation results are presented and discussed, which validate the proposed controller.