Robust nonlinear motion control of a helicopter

We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter, 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...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2003-03, Vol.48 (3), p.413-426
Main Authors: Isidori, A., Marconi, L., Serrani, A.
Format: Article
Language:English
Subjects:
Adaptive control
Applied sciences
Attitude control
Automatic control
Computer science
control theory
systems
Computer simulation
Control system analysis
Control system synthesis
Control systems
Control theory. Systems
Exact sciences and technology
Feedforward
Helicopters
Horizontal
Marine vehicles
Motion control
Nonlinear control systems
Nonlinearity
Programmable control
Robust control
Uncertainty
Vertical motion
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Summary:We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter, 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 controller is required to synchronize the vehicle motion with that of an oscillating platform, such as the deck of a ship in high seas. We design a nonlinear controller which combines recent 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 uncertainties on the plant and actuator model.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2003.809147