Beibei Ren & Shuzhi Sam Ge 
Modeling, Control and Coordination of Helicopter Systems [PDF ebook] 

Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and also covers issues related to the coordination and formation control of multiple helicopter systems to achieve high performance tasks. Ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. This book is a valuable reference on modeling, control and coordination of helicopter systems, providing readers with practical solutions for the problems that still plague helicopter system design and implementation. Readers will gain a complete picture of helicopters at the systems level, as well as a better understanding of the technical intricacies involved.

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Introduction.-Building a Nonlinear Rotary-wing Aircraft Model.- Stability Analysis for Rotary-wing Aircraft.-  Altitude Control of Helicopters With Unknown Dynamics.- Altitude and Yaw Control of Helicopters With Uncertain Dynamics.- Attitude Control of Uncertain Helicopters with Actuator Dynamics.-Kinematic Formation Control Using Q-Structures.- Dynamic Altitude Synchronization Using Graph Theory.