L1 adaptive augmentation of a helicopter baseline controller

Magnus Bichlmeier, Florian Holzapfel, Enric Xargay, Naira Hovakimyan

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


In this paper we present L1 adaptive control laws for augmenting an existing helicopter baseline controller. The adaptive augmentation is designed to maintain handling and flying qualities in situations the baseline controller was not designed for or performs poorly. Considering the peculiarities of helicopter dynamics, we propose a state-feedback L1 flight control law with piecewise-constant estimation loops for attitude control. This control law augments an existing angular-rate baseline controller and receives commands from an outer-loop attitude control law. In addition, we also develop a standalone L1 controller for vertical speed control in hover and low-speed regimes. The proposed controllers are tailored to comply with current philosophies for safety-critical systems in aerospace applications. The paper also presents simulation results obtained with a high-fidelity helicopter model.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control (GNC) Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624102240
StatePublished - Jan 1 2013
EventAIAA Guidance, Navigation, and Control (GNC) Conference - Boston, MA, United States
Duration: Aug 19 2013Aug 22 2013

Publication series

NameAIAA Guidance, Navigation, and Control (GNC) Conference


OtherAIAA Guidance, Navigation, and Control (GNC) Conference
CountryUnited States
CityBoston, MA

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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