Control Oriented Modeling And System Identification For Nonlinear Trajectory Tracking Control Of A Small Scale Unmanned Helicopter

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Control-oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-scale Unmanned Helicopter

Author : Sepehr Pourrezaei Khaligh
Publisher :
ISBN 13 :
Total Pages : 187 pages
Book Rating : 4.:/5 (886 download)

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Book Synopsis Control-oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-scale Unmanned Helicopter by : Sepehr Pourrezaei Khaligh

Download or read book Control-oriented Modeling and System Identification for Nonlinear Trajectory Tracking Control of a Small-scale Unmanned Helicopter written by Sepehr Pourrezaei Khaligh and published by . This book was released on 2014 with total page 187 pages. Available in PDF, EPUB and Kindle. Book excerpt: Model-based control design of small-scale helicopters involves considerable challenges due to their nonlinear and underactuated dynamics with strong couplings between the different degrees-of-freedom (DOFs). Most nonlinear model-based multi-input multi-output (MIMO) control approaches require the dynamic model of the system to be affine-in-control and fully actuated. Since the existing formulations for helicopter nonlinear dynamic model do not meet these requirements, these MIMO approaches cannot be applied for control of helicopters and control designs in the literature mostly use the linearized model of the helicopter dynamics around different trim conditions instead of directly using the nonlinear model. The purpose of this thesis is to derive the 6-DOF nonlinear model of the helicopter in an affine-in-control, non-iterative and square input-output formulation to enable many nonlinear control approaches, that require a control-affine and square model such as the sliding mode control (SMC), to be used for control design of small-scale helicopters. A combination of the first-principles approach and system identification is used to derive this model. To complete the nonlinear model of the helicopter required for the control design, the inverse kinematics of the actuating mechanisms of the main and tail rotors are also derived using an approach suitable for the real-time control applications. The parameters of the new control-oriented formulation are identified using a time-domain system identification strategy and the model is validated using flight test data. A robust sliding mode control (SMC) is then designed using the new formulation of the helicopter dynamics and its robustness to parameter uncertainties and wind disturbances is tested in simulations. Next, a hardware-in-the-loop (HIL) testbed is designed to allow for the control implementation and gain tuning as well as testing the robustness of the controller to external disturbances in a controlled environment on the ground. The controller is also tested in real flights.

Linear and Nonlinear Control of Small-Scale Unmanned Helicopters

Author : Ioannis A. Raptis
Publisher : Springer Science & Business Media
ISBN 13 : 9400700237
Total Pages : 210 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Linear and Nonlinear Control of Small-Scale Unmanned Helicopters by : Ioannis A. Raptis

Download or read book Linear and Nonlinear Control of Small-Scale Unmanned Helicopters written by Ioannis A. Raptis and published by Springer Science & Business Media. This book was released on 2010-09-28 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors. • Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms. This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required.

Identification Modeling and Characteristics of Miniature Rotorcraft

Author : Bernard Mettler
Publisher : Springer Science & Business Media
ISBN 13 : 1475737858
Total Pages : 237 pages
Book Rating : 4.4/5 (757 download)

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Book Synopsis Identification Modeling and Characteristics of Miniature Rotorcraft by : Bernard Mettler

Download or read book Identification Modeling and Characteristics of Miniature Rotorcraft written by Bernard Mettler and published by Springer Science & Business Media. This book was released on 2013-03-14 with total page 237 pages. Available in PDF, EPUB and Kindle. Book excerpt: Identification Modeling and Characteristics of Miniature Rotorcraft introduces an approach to developing a simple and effective linear parameterized model of vehicle dynamics using the CIFERâ identification tool created by the Army/NASA Rotorcraft Division. It also presents the first application of the advanced control system optimization tool CONDUITâ to systematically and efficiently tune control laws for a model-scale UAV helicopter against multiple and competing dynamic response criteria. Identification Modeling and Characteristics of Miniature Rotorcraft presents the detailed account of how the theory was developed, the experimentation performed, and how the results were used. This book will serve as a basic and illustrative guide for all students that are interested in developing autonomous flying helicopters.

Modeling, Control and Coordination of Helicopter Systems

Author : Beibei Ren
Publisher : Springer Science & Business Media
ISBN 13 : 1461415632
Total Pages : 243 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Modeling, Control and Coordination of Helicopter Systems by : Beibei Ren

Download or read book Modeling, Control and Coordination of Helicopter Systems written by Beibei Ren and published by Springer Science & Business Media. This book was released on 2012-02-02 with total page 243 pages. Available in PDF, EPUB and Kindle. Book excerpt: Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and also covers issues related to the coordination and formation control of multiple helicopter systems to achieve high performance tasks. Ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. This book is a valuable reference on modeling, control and coordination of helicopter systems,providing readers with practical solutions for the problems that still plague helicopter system design and implementation. Readers will gain a complete picture of helicopters at the systems level, as well as a better understanding of the technical intricacies involved.

Frequency-Domain System Identification for Unmanned Helicopters from Flight Data

Author : Mohammadhossein Mohajerani
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)

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Book Synopsis Frequency-Domain System Identification for Unmanned Helicopters from Flight Data by : Mohammadhossein Mohajerani

Download or read book Frequency-Domain System Identification for Unmanned Helicopters from Flight Data written by Mohammadhossein Mohajerani and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Selected papers from the 2nd International Symposium on UAVs, Reno, U.S.A. June 8-10, 2009

Author : Kimon P. Valavanis
Publisher : Springer Science & Business Media
ISBN 13 : 9048187648
Total Pages : 519 pages
Book Rating : 4.0/5 (481 download)

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Book Synopsis Selected papers from the 2nd International Symposium on UAVs, Reno, U.S.A. June 8-10, 2009 by : Kimon P. Valavanis

Download or read book Selected papers from the 2nd International Symposium on UAVs, Reno, U.S.A. June 8-10, 2009 written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2011-04-11 with total page 519 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade, signi?cant changes have occurred in the ?eld of vehicle motion planning, and for UAVs in particular. UAV motion planning is especially dif?cult due to several complexities not considered by earlier planning strategies: the - creased importance of differential constraints, atmospheric turbulence which makes it impossible to follow a pre-computed plan precisely, uncertainty in the vehicle state, and limited knowledge about the environment due to limited sensor capabilities. These differences have motivated the increased use of feedback and other control engineering techniques for motion planning. The lack of exact algorithms for these problems and dif?culty inherent in characterizing approximation algorithms makes it impractical to determine algorithm time complexity, completeness, and even soundness. This gap has not yet been addressed by statistical characterization of experimental performance of algorithms and benchmarking. Because of this overall lack of knowledge, it is dif?cult to design a guidance system, let alone choose the algorithm. Throughout this paper we keep in mind some of the general characteristics and requirements pertaining to UAVs. A UAV is typically modeled as having velocity and acceleration constraints (and potentially the higher-order differential constraints associated with the equations of motion), and the objective is to guide the vehicle towards a goal through an obstacle ?eld. A UAV guidance problem is typically characterized by a three-dimensional problem space, limited information about the environment, on-board sensors with limited range, speed and acceleration constraints, and uncertainty in vehicle state and sensor data.

System Identification and Optimal Control of a Small-scale Unmanned Helicopter

Author : Marthinus Christoffel Terblanche
Publisher :
ISBN 13 :
Total Pages : 222 pages
Book Rating : 4.:/5 (898 download)

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Book Synopsis System Identification and Optimal Control of a Small-scale Unmanned Helicopter by : Marthinus Christoffel Terblanche

Download or read book System Identification and Optimal Control of a Small-scale Unmanned Helicopter written by Marthinus Christoffel Terblanche and published by . This book was released on 2014 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Unmanned Aircraft Systems

Author : Kimon P. Valavanis
Publisher : Springer Science & Business Media
ISBN 13 : 1402091370
Total Pages : 533 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Unmanned Aircraft Systems by : Kimon P. Valavanis

Download or read book Unmanned Aircraft Systems written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-12-21 with total page 533 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009).

Autonomous Flying Robots

Author : Kenzo Nonami
Publisher : Springer Science & Business Media
ISBN 13 : 4431538569
Total Pages : 341 pages
Book Rating : 4.4/5 (315 download)

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Book Synopsis Autonomous Flying Robots by : Kenzo Nonami

Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Flight Formation Control

Author : Josep M. Guerrero
Publisher : John Wiley & Sons
ISBN 13 : 1118563220
Total Pages : 279 pages
Book Rating : 4.1/5 (185 download)

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Book Synopsis Flight Formation Control by : Josep M. Guerrero

Download or read book Flight Formation Control written by Josep M. Guerrero and published by John Wiley & Sons. This book was released on 2012-12-17 with total page 279 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

System Identification and Optimal Control of a Small-scale Unmanned Helicopter

Author : Marthinus Christoffel Terblanche
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (898 download)

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Book Synopsis System Identification and Optimal Control of a Small-scale Unmanned Helicopter by : Marthinus Christoffel Terblanche

Download or read book System Identification and Optimal Control of a Small-scale Unmanned Helicopter written by Marthinus Christoffel Terblanche and published by . This book was released on 2014 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Helicopter -- Optimal linear control -- LQR -- Linear-quadratic control -- System identification -- Simulation.

Disturbance Observer-Based Control

Author : Shihua Li
Publisher : CRC Press
ISBN 13 : 1466515805
Total Pages : 342 pages
Book Rating : 4.4/5 (665 download)

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Book Synopsis Disturbance Observer-Based Control by : Shihua Li

Download or read book Disturbance Observer-Based Control written by Shihua Li and published by CRC Press. This book was released on 2016-04-19 with total page 342 pages. Available in PDF, EPUB and Kindle. Book excerpt: Due to its abilities to compensate disturbances and uncertainties, disturbance observer based control (DOBC) is regarded as one of the most promising approaches for disturbance-attenuation. One of the first books on DOBC, Disturbance Observer Based Control: Methods and Applications presents novel theory results as well as best practices for applica

Unmanned Rotorcraft Systems

Author : Guowei Cai
Publisher : Springer Science & Business Media
ISBN 13 : 0857296353
Total Pages : 282 pages
Book Rating : 4.8/5 (572 download)

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Book Synopsis Unmanned Rotorcraft Systems by : Guowei Cai

Download or read book Unmanned Rotorcraft Systems written by Guowei Cai and published by Springer Science & Business Media. This book was released on 2011-06-01 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design. Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.

Modeling, Identification, and Trajectory Planning for a Model-scale Helicopter

Author : Sung K. Kim
Publisher :
ISBN 13 :
Total Pages : 234 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Modeling, Identification, and Trajectory Planning for a Model-scale Helicopter by : Sung K. Kim

Download or read book Modeling, Identification, and Trajectory Planning for a Model-scale Helicopter written by Sung K. Kim and published by . This book was released on 2001 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Next Wave in Robotics

Author : Tzuu-Hseng S. Li
Publisher : Springer Science & Business Media
ISBN 13 : 3642231462
Total Pages : 303 pages
Book Rating : 4.6/5 (422 download)

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Book Synopsis Next Wave in Robotics by : Tzuu-Hseng S. Li

Download or read book Next Wave in Robotics written by Tzuu-Hseng S. Li and published by Springer Science & Business Media. This book was released on 2011-08-25 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 14th RoboWorld Cup and Congress of the Federation of International Robosoccer Association, FIRA 2011, held in Kaohsiung, Taiwan in August 2011. The 34 revised papers presented were carefully reviewed and selected for inclusion in the proceedings out of a total of 110 contributed papers presented at FIRA 2011. The papers address a broad variety of current topics in robotics research, particularly in robot soccer.

System Identification Modeling of a Model-scale Helicopter

Author : Bernard Mettler
Publisher :
ISBN 13 :
Total Pages : 25 pages
Book Rating : 4.:/5 (447 download)

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Book Synopsis System Identification Modeling of a Model-scale Helicopter by : Bernard Mettler

Download or read book System Identification Modeling of a Model-scale Helicopter written by Bernard Mettler and published by . This book was released on 2000 with total page 25 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "Development of a reliable high-performance helicopter-based unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This report describes the process and results of the dynamic modeling of a model-scale unmanned helicopter (Yamaha R-50 with 10 ft rotor diameter) using system identification. A complete dynamic model was derived for both hover and cruise flight conditions. In addition to standard helicopter flight characteristics, the model explicitly accounts for the stabilizer bar, which has a strong influence on the flight dynamics and is widely used in model-scale helicopters. The accuracy of the developed model is verified by the comparison between predicted and actual responses from the model and the flight experiments (in both frequency and time domains), and between key identified parameters and their theoretical values. Scaling of the main characteristics of the R-50 model-scale helicopter with respect to those of a UH-1H full-size helicopter was performed to determine how the size influences the flight dynamics of helicopters."

Linear and Nonlinear Control of Unmanned Rotorcraft

Author : Ioannis A. Raptis
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (741 download)

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Book Synopsis Linear and Nonlinear Control of Unmanned Rotorcraft by : Ioannis A. Raptis

Download or read book Linear and Nonlinear Control of Unmanned Rotorcraft written by Ioannis A. Raptis and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: The main characteristic attribute of the rotorcraft is the use of rotary wings to produce the thrust force necessary for motion. Therefore, rotorcraft have an advantage relative to fixed wing aircraft because they do not require any relative velocity to produce aerodynamic forces. Rotorcraft have been used in a wide range of missions of civilian and military applications. Particular interest has been concentrated in applications related to search and rescue in environments that impose restrictions to human presence and interference. The main representative of the rotorcraft family is the helicopter. Small scale helicopters retain all the flight characteristics and physical principles of their full scale counterpart. In addition, they are naturally more agile and dexterous compared to full scale helicopters. Their flight capabilities, reduced size and cost have monopolized the attention of the Unmanned Aerial Vehicles research community for the development of low cost and efficient autonomous flight platforms. Helicopters are highly nonlinear systems with significant dynamic coupling. In general, they are considered to be much more unstable than fixed wing aircraft and constant control must be sustained at all times. The goal of this dissertation is to investigate the challenging design problem of autonomous flight controllers for small scale helicopters. A typical flight control system is composed of a mathematical algorithm that produces the appropriate command signals required to perform autonomous flight. Modern control techniques are model based, since the controller architecture depends on the dynamic description of the system to be controlled. This principle applies to the helicopter as well, therefore, the flight control problem is tightly connected with the helicopter modeling. The helicopter dynamics can be represented by both linear and nonlinear models of ordinary differential equations. Theoretically, the validity of the linear models is restricted in a certain region around a specific operating point. Contrary, nonlinear models provide a global description of the helicopter dynamics. This work proposes several detailed control designs based on both dynamic representations of small scale helicopters. The controller objective is for the helicopter to autonomously track predefined position (or velocity) and heading reference trajectories. The controllers performance is evaluated using X-Plane, a realistic and commercially available flight simulator.