Robust Helicopter Stabilization in the Face of Wind Disturbance

Kumeresan A. Danapalasingam, John-Josef Leth, Anders la Cour-Harbo, Morten Bisgaard

Research output: Contribution to journalConference article in Journalpeer-review

29 Citations (Scopus)
644 Downloads (Pure)


When a helicopter is required to hover with minimum
deviations from a desired position without measurements
of an affecting persistent wind disturbance, a robustly stabilizing
control action is vital. In this paper, the stabilization of
the position and translational velocity of a nonlinear helicopter
model affected by a wind disturbance is addressed. The wind
disturbance is assumed to be a sum of a fixed number of
sinusoids with unknown amplitudes, frequencies and phases. An
estimate of the disturbance is introduced to be adapted using
state measurements for control purposes. A nonlinear controller
is then designed based on nonlinear adaptive output regulations
and robust stabilization of a chain of integrators by a saturated
feedback. Simulation results show the effectiveness of the
control design in the stabilization of helicopter motion and the
built-in robustness of the controller in handling parameter and
model uncertainties.
Original languageEnglish
JournalI E E E Conference on Decision and Control. Proceedings
Pages (from-to)3832 - 3837
Publication statusPublished - 2010
Event49th IEEE Conference on Decision and Control - Atlanta, United States
Duration: 15 Dec 201017 Dec 2010


Conference49th IEEE Conference on Decision and Control
CountryUnited States


Dive into the research topics of 'Robust Helicopter Stabilization in the Face of Wind Disturbance'. Together they form a unique fingerprint.

Cite this