{'fraction_non_alphanumeric': 0.012180267965895249, 'fraction_numerical': 0.00243605359317905, 'mean_word_length': 5.737704918032787, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A multivariable adaptive controller for autonomous helicopters

Control of autonomous helicopters in the presence of environmental and system uncertainties is a challenging task. These uncertainties not only change the dynamics of the system, but also the trim inputs themselves. In the paper, a multivariable adaptive control methodology is proposed that is applicable for general maneuvers with arbitrary speeds and high bandwidth requirements. The control design methodology achieves global stability, and is tested on a high fidelity simulation of an autonomous helicopter. The results indicate a satisfactory tracking performance even as the speeds and bandwidth requirements are increased well beyond hover, and as the parametric uncertainties and nonlinearities were increased to about 20% of their nominal values.