Aggressive Control of Helicopters in presence of Parametric and Model Uncertainties

In this paper we design an autopilot in order to control the vertical, lateral, longitudinal and yaw attitude dynamic of an helicopter achieving a desired four degree of freedom trajectory. The references are assumed to be arbitrary signals with only some limitations in the higher order time derivatives imposed by functional controllability and actuator constraints. The nonlinear control law proposed succeeds in enforcing the desired trajectories robustly with respect to uncertainties characterizing the physical and aerodynamical parameters of the helicopter