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Dynamics Modeling, Hybrid Controller Design and Simulation for a Small-size Autonomous Helicopter

G. Nugroho


This paper presents dynamics modeling, a hybrid controller design and
simulation for a small-size autonomous helicopter. The helicopter dynamics is derived with top-down approach and the proposed control strategy comprise of two components, a linear component to stabilize the nominal linear system and a discontinuous component to guarantee the robustness. An integral control is included in the system to eliminate steady state error and tracking reference input. The effectiveness of the proposed control strategy is tested via simulation. Results of the simulation showed that the proposed controller has good performance and robust against external disturbances.

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