Abstract-In this paper, a robust altitude control for small RC helicopters near ground surface is proposed. Stable takeoff, landing and hovering near surface are realized by both ground effect compensation and robust sliding mode control which suppresses the modeling error of dynamics and ground effect. To prevent the steady state error induced by the boundary layer which is indispensable to avoid chattering phenomena, integral sliding mode function is introduced which achieves asymptotic convergence to the desired altitude with continuous control input. We verified the robustness and effectiveness of the proposed control method through experiments of a RC small scale helicopter on hovering control near ground surface and external disturbance attenuation.

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In this study, we propose a localization method based on the fusion of the laser range sensor (LRS) measurements and the odometry information of a vehicle using moving horizon estimation (MHE). LRS measurement includes outliers and suffers from the intermittent observation; alleviation of their effect is required in order to localize a vehicle position with high accuracy. Proposed localization method merges multisampling data by exploiting MHE, which greatly reduces the effect of outliers and intermittent observation on localization using the data of other sampling. We show the efficacy of proposed localization by numerical simulations and experiments.

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