L1-based model following control of an identified helicopter model in hover

Giacomo Picardi, Stefano Geluardi, Mario Olivari, Lorenzo Pollini, Mario Innocenti, Heinrich H. Bülthoff

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


The aim of this study is to augment the uncertain dynamics of the helicopter in order to resemble the dynamics of a new kind of vehicle, the so called Personal Aerial Vehicle. To achieve this goal a two step procedure is proposed. First, the helicopter model dynamics is augmented with a PID-based dynamic controller. Such controller implements a model following on the nominal helicopter model without uncertainties. Then, an L1ad aptive controller is designed to restore the nominal responses of the augmented helicopter when variations in the identified parameters are considered. The performance of the adaptive controller is evaluated via Montecarlo simulations. The results show that the application of the adaptive controller to the augmented helicopter dynamics can significantly reduce the effects of uncertainty due to the identification of the helicopter model. For implementation reasons the adaptive controller was applied to a subset of the outputs of the system. However, the under actuation typical of helicopters makes the tracking of the nominal responses good also on the not directly adapted outputs.

Original languageEnglish
Title of host publication72nd American Helicopter Society International Annual Forum 2016
Subtitle of host publicationLeveraging Emerging Technologies for Future Capabilities
PublisherAmerican Helicopter Society
Number of pages8
ISBN (Electronic)9781510825062
Publication statusPublished - 2016

Publication series

NameAnnual Forum Proceedings - AHS International
ISSN (Print)1552-2938

Bibliographical note

Publisher Copyright:
© 2016 by the American Helicopter Society International, Inc. All rights reserved.

ASJC Scopus subject areas

  • General Engineering


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