Multi-layer flight control synthesis and analysis of a small-scale UAV helicopter - Karimoddini, Ali; Guowei Cai; Chen, Ben M; Hai Lin; Lee, Tong H (2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010)
Keywords: Aerospace control; Aerospace electronics; Attitude control; Control systems; Helicopters; Hierarchical Control; Inner-loop Controller; Nonlinear control systems; Outer-loop Controller; Proportional control; Sensor systems; Testing; Unmanned aerial vehicles