Robust attitude control for an unmanned helicopter in near-hover flights

Panos Marantos, Leonidas Dritsas, Kostas J. Kyriakopoulos

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


In this paper, a systematic procedure for designing robust attitude controllers for unmanned helicopters, based on mixed H2/H methodologies, is presented. Firstly, a family of linearized models describing the near-hover flight dynamics is derived which can be compactly formulated as a nominal plant perturbed by norm bound uncertainties on the system, control and wind matrices. It is then shown that a single robust controller can be designed guaranteeing stability, robustness and gust disturbance rejection for the whole near-hover flight envelope. Performance analysis and simulation results show that the proposed attitude control strategy can also satisfy the handling qualities defined in ADS-33E specification requirements. Finally, the attitude controller is used as a module in a total control scheme offering position tracking capabilities which is implemented in a real embedded system. The efficacy of the total control structure is proved by Hardware-In-the-Loop simulations on an accurate nonlinear helicopter model.

Original languageEnglish (US)
Title of host publication2013 European Control Conference, ECC 2013
PublisherIEEE Computer Society
Number of pages6
ISBN (Print)9783033039629
StatePublished - 2013
Event2013 12th European Control Conference, ECC 2013 - Zurich, Switzerland
Duration: Jul 17 2013Jul 19 2013

Publication series

Name2013 European Control Conference, ECC 2013


Other2013 12th European Control Conference, ECC 2013

ASJC Scopus subject areas

  • Control and Systems Engineering


Dive into the research topics of 'Robust attitude control for an unmanned helicopter in near-hover flights'. Together they form a unique fingerprint.

Cite this