Singular perturbation control strategy for a three-time-scale autonomous helicopter on a platform*

A three-time-scale singular perturbation control law is designed for a nonlinear helicopter model in vertical flight. The proposed control law is based on time-scale decomposition, and is able to achieve the desired altitude by selecting a desired angular velocity, and the associated collective pitch angle of the blades. Numerical results for the singular perturbation control strategy, along with comparison results with the literature, are also presented for the studied nonlinear highly coupled helicopter model.