H(infinity) helicopter flight control law design with and without rotor state feedback

Takahashi, Marc D.

doi:10.2514/6.1993-3849

Cited by 6 publications

(9 citation statements)

References 2 publications

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“…In general, the dynamics of the helicopter are nonlinear with coupling effects [13]. Linearized models, in which nonlinearities and parameter uncertainties are ignored, have been adopted in much of the available literature, e.g., in [2,6,[9][10][11][12][13]. In this paper, a linear model, in which parameters can be measured precisely, is adopted as the nominal model.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…The gains D y and D r are chosen so that D m (s) is a Hurwitz polynomial, and y N p (t) has the desired performance. In this paper, D y and D r are designed and evaluated using ADS-33, which has been widely adopted in much of the literature, e.g., in [2], [6], [10], [19] and [20].…”

Section: Assumption 1 the External Wind Disturbances D A (T)mentioning

confidence: 99%

“…Eric et al proposed an adaptive controller with pseudo-control hedging (PCH) technology to reduce the effect of attitude uncertainty, and verified the designed controller on an R-Max unmanned helicopter [1]. Takahashi et al applied an H-infinity controller on a helicopter and discussed the effect of rotor state feedback [2]. Isidori et al designed a nonlinear controller for an unmanned helicopter, which included a feedback linearization controller and an adaptive controller, and discussed the robust property [4].…”

Section: Introductionmentioning

confidence: 99%

“…However, such a vehicle is also one of the most complex aerial machines, unstable, nonlinear, underactuated, and strongly coupled [1,2]. It is still a significant challenge to design high performance controller for unmanned helicopters.…”

Section: Introductionmentioning

confidence: 99%

“…To our best knowledge, there has been very little literature concerning the problem of aggressive motion controller design for unmanned helicopters, in which all of the aforementioned perturbations are considered, as well as implementation efficiency related to the performance requirements of onboard avionics. In [2], [3] and [6], only the linear model was adopted. In [10] and [11], no nonlinearity or external disturbance was considered.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

2014

J Intell Robot Syst

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In this paper a robust controller is proposed for unmanned helicopters. The mathematical model of the helicopter is a multi-input, multi-output (MIMO) system with nonlinearities, parameter uncertainties, coupling effects, and external disturbances. A novel robust controller, which includes a nominal controller and a robust compensator, is proposed for obtaining robust attitude tracking performance in pitch and roll channels, respectively. The nominal controller is designed to achieve desired tracking performance for the nominal model, and the robust compensator design is based on robust signal compensation technology for restraining the effects of external disturbances, parameter uncertainties, nonlinearities and couplings. The proposed controller is linear, time invariant, and easy to implement. The robust property of the system is analyzed. It is proved that robust attitude tracking performance can be achieved. Experiments were carried out on a prototype unmanned helicopter THeli260, which included simulation evaluation and flight test under aggressive maneuvers. The results of the experiment exhibit advanced performance of the robust controller.

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Section: Mathematical Modelmentioning

confidence: 99%

Section: Assumption 1 the External Wind Disturbances D A (T)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

2014

J Intell Robot Syst

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Investigation of inverse simulation for design of feedforward controllers

Murray-Smith

McGookin

2007

Mathematical and Computer Modelling of Dynamical Systems

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This paper describes the use of inverse simulation to develop feedforward controllers for model-based output-tracking control system structures, thus avoiding the more complicated techniques of model inversion. Similarities and shortcomings of the inverse simulation and model inversion approaches are explored. It is found that, with suitable values of discretized time interval, the method based on inverse simulation may be preferable for minimum-phase systems. Depending upon zero redistribution within the process of inverse simulation, nonminimum-phase problems for linear systems can also be handled. The conclusions are demonstrated using a non-linear HS125 aircraft model, a linearised Lynx helicopter model and a container ship model for ship steering control and roll stabilization.

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Multi-timescale nonlinear robust control for a miniature helicopter

2008

2008 American Control Conference

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This paper proposes a new nonlinear control approach which is applied to a miniature aerobatic helicopter through a multi-timescale structure. To deal with inherent unstable internal dynamics, the translational, rotational, and flapping dynamics of the helicopter are organized into a threetimescale nonlinear model. The concepts of dynamic inversion and sliding manifold are combined together. Part of the uncertainties is explicitly taken into account in the nonlinear robust control design, and Monte Carlo simulations are used for validations under other sensor noises and model uncertainties.

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H(infinity) helicopter flight control law design with and without rotor state feedback

Cited by 6 publications

References 2 publications

Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

Investigation of inverse simulation for design of feedforward controllers

Multi-timescale nonlinear robust control for a miniature helicopter

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