We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter to a reference signal, while stabilizing the lateral and horizontal position and maintaining a constant attitude. The reference to be tracked is given by a sum of a constant and a fixed number of sinusoidal signals, and it is assumed not to be available to the controller. This represents a possible situation in which the helicopter is required to synchronize its vertical motion with that of an oscillating platform, as the one given by a sea carrier subject to wave-induced oscillations. We design a nonlinear controller which combines results on nonlinear adaptive output regulations and robust stabilization of systems in feedforward form by means of saturated controls. Simulation results show the effectiveness of the method and its ability to cope with large uncertainties on the plant, the actuator model and the exogenous reference signal.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Robust nonlinear motion control of a helicopter


    Beteiligte:
    Isidori, A. (Autor:in) / Marconi, L. (Autor:in) / Serrani, A. (Autor:in)


    Erscheinungsdatum :

    2001


    Format / Umfang :

    6 Seiten, 7 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Robust nonlinear motion control of a helicopter

    Isidori, A. / Marconi, L. / Serrani, A. | Tema Archiv | 2003





    Robust Nonlinear Fault-Tolerant Control of a Small-Scale Helicopter

    Garagic, D. / Boskovic, J. D. / Mehra, R. K. et al. | British Library Conference Proceedings | 2004