A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL.
The file type is
2003 European Control Conference (ECC)
In this paper a control structure based on feedback (Input-State) linearization has been applied to the elevation subsystem of a laboratory double rotor helicopter. This system is multivariable with 2 inputs and 4 outputs, highly nonlinear and strongly coupled. This article focuses on the elevation subsystem which, in turn, is underactuated with 1 input and 2 outputs. A switching control law between exact and approximate input-state linearization is proposed, which presents good result.doi:10.23919/ecc.2003.7086571 fatcat:n32gumbd3relvauc6ih76zpw3u