Hierarchical control of small autonomous helicopters

Christopher P. Sanders, Paul A. DeBitetto, Eric Feron, Hon Fai Vuong, Nancy Leveson

Research output: Contribution to journalArticlepeer-review

61 Scopus citations


Autonomous air vehicles have numerous applications, all of which require the vehicle to have stable and accurate control of its motion. In this paper, a hierarchical control system for small autonomous helicopters is described. The control system consists of four components: a navigation filter, an inner-loop hover control system, a waypoint guidance system, and a ground-based flight manager. All four elements of the control system have been verified with flight tests of the Draper Small Autonomous Air Vehicle.
Original languageEnglish (US)
Pages (from-to)3629-3634
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - Dec 1 1998
Externally publishedYes

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