A synchronised trajectory-tracking control strategy is proposed for multiple experimental three-degrees-of-freedom helicopters. The model-based controller includes a feedforward compensation term and a PD feedback control term. Asymptotic convergence is achieved for both trajectory tracking and motion synchronisation. A proposed generalised synchronisation error concept allows the design of different synchronisation strategies so that different synchronisation performance can be reached. Experimental results verify the effectiveness of the proposed controller.
Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters
IEE Proceedings - Control Theory and Applications ; 152 , 6 ; 683-692
2005
10 Seiten, 16 Quellen
Article (Journal)
English
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