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.


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    Title :

    Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters


    Contributors:
    Shan, J. (author) / Liu, H.T. (author) / Nowotny, S. (author)

    Published in:

    Publication date :

    2005


    Size :

    10 Seiten, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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