Optimal Control of Full Envelope Helicopter

  • Semuel FrankoEmail author
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 60)


Controlling rotary wing platforms, especially helicopters, is a difficult problem because of the nonlinearity of the structure and strong coupled motion dynamics. In this paper, linear quadratic regulator method is used to control the trajectory and mission paths of the autonomous helicopter. Nonlinear motion dynamics is trimmed and linearized about certain operating points and linear model is obtained by Taylor’s expansion formula. This model is integrated into MATLAB/Simulink software. By using LQR methodology the attitude of the autonomous Puma helicopter is controlled and two simulations are realized. The results show that this approach can be effectively applied.


Auto pilot optimal control LQR helicopter trajectory control 



The author gratefully acknowledges Mr. Mehmet Haklıdır and Mrs. Melike Gürbüz’s helpful comments about this work.


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  1. 1.TUBITAK-Marmara Research Center, Information Technologies InstituteGebzeTurkey

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