{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/36346"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/36346","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Maneuver-Based Motion Control of a Miniature Helicopter","abstract":"This thesis deals with the control of a highly maneuverable miniature helicopter about trajectories, generated online, from a library of prespecified maneuvers. Linearizing the nonlinear equations describing the helicopter dynamics about the prespecified, library maneuvers results in a hybrid linear time-varying (LTV) model. Two control approaches are used to design controllers corresponding to each library maneuver: the standard L2-induced norm approach and an approach which also uses the L2-induced norm as a performance measure while accounting for uncertain initial states. Each control approach is evaluated in closed-loop simulation with a nonlinear helicopter model. The controllers are set to drive the helicopter model to track desired trajectories in the presence of disturbances such as wind gusts, turbulence, sensor noise, and uncertain initial conditions. For the specific plant formulations and trajectories presented, performance is comparable for both control approaches; however, it is possible to improve controller performance by exploiting some of the features of the approach accounting for uncertain initial states. These improvements in performance are topics for future work along with implementation of the presented approaches and results on a remote control helicopter.","abstract_html":"This thesis deals with the control of a highly maneuverable miniature helicopter about trajectories, generated online, from a library of prespecified maneuvers. Linearizing the nonlinear equations describing the helicopter dynamics about the prespecified, library maneuvers results in a hybrid linear time-varying (LTV) model. Two control approaches are used to design controllers corresponding to each library maneuver: the standard L2-induced norm approach and an approach which also uses the L2-induced norm as a performance measure while accounting for uncertain initial states. Each control approach is evaluated in closed-loop simulation with a nonlinear helicopter model. The controllers are set to drive the helicopter model to track desired trajectories in the presence of disturbances such as wind gusts, turbulence, sensor noise, and uncertain initial conditions. For the specific plant formulations and trajectories presented, performance is comparable for both control approaches; however, it is possible to improve controller performance by exploiting some of the features of the approach accounting for uncertain initial states. These improvements in performance are topics for future work along with implementation of the presented approaches and results on a remote control helicopter.","abstract_has_math":false,"creators":["Rogers, Christopher Michael"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Aerospace and Ocean Engineering","degree_department":"Aerospace and Ocean Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Farhood, Mazen H."],"committee_members":["Woolsey, Craig A.","Philen, Michael K."],"year":2010,"date_issued":"2010-12-06","date_published":"2010-12-06","updated_at":"2026-07-22T22:19:21Z","subjects":["library-based","uncertain initial states","L2-induced norm","motion control"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-12202010-141136"],"render_values":[{"text":"etd-12202010-141136","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/36346","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Farhood, Mazen H."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Woolsey, Craig A.","Philen, Michael K."]},{"key":"dc:contributor.department","label":"Department","values":["Aerospace and Ocean Engineering"]},{"key":"dc:creator","label":"Author","values":["Rogers, Christopher Michael"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:50:32Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:50:32Z","2011-12-30"]},{"key":"dc:date.issued","label":"Date","values":["2010-12-06"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace and Ocean Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["library-based","uncertain initial states","L2-induced norm","motion control"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-12202010-141136"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/36346"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis deals with the control of a highly maneuverable miniature helicopter about trajectories, generated online, from a library of prespecified maneuvers. 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These improvements in performance are topics for future work along with implementation of the presented approaches and results on a remote control helicopter."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Maneuver-Based Motion Control of a Miniature Helicopter"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Farhood, Mazen H."],"dc:contributor.committeemember":["Woolsey, Craig A.","Philen, Michael K."],"dc:contributor.department":["Aerospace and Ocean Engineering"],"dc:creator":["Rogers, Christopher Michael"],"dc:date.accessioned":["2014-03-14T20:50:32Z"],"dc:date.available":["2014-03-14T20:50:32Z","2011-12-30"],"dc:date.issued":["2010-12-06"],"dc:description.abstract":["This thesis deals with the control of a highly maneuverable miniature helicopter about trajectories, generated online, from a library of prespecified maneuvers. 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