Energy Based Control of a Swash Mass Helicopter Through Decoupling Change of Coordinates

Abstract

We consider a small helicopter structure that is maneuvered through the control of moving masses. It is referred to as a swash mass helicopter (SMH). This paper addresses the trajectory tracking control problem for the SMH, with a specific focus on the decoupling change of coordinates of both rotational and translational dynamics. We propose a control scheme in which position tracking is the primary objective, while the attitude tracking task is considered as a secondary objective. The intermediate control signals related to the attitude dynamics exploit the structural properties of the SMH and are enhanced with terms that grant a more accurate tracking of the target trajectory. The closed-loop system stability under the trajectory tracking objective is obtained following the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) approach. In addition, the presence of external disturbances can diminish the trajectory tracking performance. For this reason, a nonlinear outer loop controller is added to the IDA-PBC to compensate the disturbances. Finally, the results of several simulations are reported to evaluate the performance of the control strategy. INDEX TERMS Unmanned aerial vehicles, swash mass helicopter, decoupling change of coordinates, passivity-based control, trajectory tracking.

Active fault-tolerant control system for a swash mass helicopter using back-stepping approach

“…The roll and pitch angles are regulated by displacing the swash masses along the orthogonal plane w.r.t, while the yaw angle can be changed by variable double rotor speed. The full dynamic of the SMH without actuator faults is given 33 as follows…”

Virtually Euler–Lagrange form for feedback passivation of a wide range of non-Euler–Lagrange systems: Adaptive passivity-based control of hepatitis B disease

“…This control method has been applied to a wide range of systems, including Euler–Lagrange (EL) systems, 1 as well as chemical and biochemical process 3,4 This well-established technique has been employed to control or observe a wide range of systems such as robot manipulators, 5,6 induction motors, 7,8 DC–DC Buck–Boost Converters, 9 mechanical systems with under-actuation degree one, 10 real-time systems, 11 digital hydraulic drives, 12 semi-active suspension system, 13 Swash Mass Helicopter and pendulum. 14,15 Passivity-based observer and controller have been designed in two PhD dissertations, respectively. 16,17 Exponential passivity method is introduced by Fradkov and Hill 18 for nonlinear systems.…”

“…19 Interconnection and damping assignment PBC is well-known for implementation on port Hamiltonian systems. 10,14,20,21 For minimum phase linear and nonlinear systems, an adaptive and robust passivity approach are prepared, respectively by Krstic et al, 22 Lin and Shen 23 Feedback passivation is the procedure to convert a non-passive system into a passive one.…”