Hybrid control architecture for aggressive maneuvering of autonomous helicopters

Emilio Frazzoli, Munther A. Dahleh, Eric Feron

Research output: Chapter in Book/Report/Conference proceedingConference contribution

61 Scopus citations


In this paper we propose a hierarchical control architecture for aggressive maneuvering applicable to autonomous helicopters. In order to reduce the computational requirements of the control problem to be solved to achieve aggressive trajectories, a hybrid system framework is used, which allows for a substantial reduction in the complexity of the system, as well as for guarantees on the stability of the overall behavior. The hybrid controller is based on an automaton whose states represent feasible trajectory primitives. The selection of maneuvers, and hence the generation of the complete trajectory, can be cast as an optimal control problem that can be solved efficiently in real time.
Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Number of pages6
StatePublished - Dec 1 1999
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2021-02-18


Dive into the research topics of 'Hybrid control architecture for aggressive maneuvering of autonomous helicopters'. Together they form a unique fingerprint.

Cite this