Modeling, system identification and robust control of a coaxial micro helicopter

Schafroth, Dario; Bermes, Christian; Bouabdallah, Samir; Siegwart, Roland

doi:10.1016/j.conengprac.2010.02.004

Cited by 92 publications

(52 citation statements)

References 9 publications

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“…Many algorithms have been implemented to control a nonlinear and uncertain helicopter systems for a high-performance design, such as H ' technique 4 and mixed sensitivity H ' . 5 In the meantime, to improve the tracking performance in the presence of structured and/or unstructured uncertainty for the hydraulic and mechanical engineering, many inspired algorithms were adopted such as the repetitive control, 6 nonlinear adaptive control, 7 nonlinear robust control, 8 and backstepping. 9 The most commonly aforementioned applications are assumed that some knowledge of type of uncertainty is known, and the origin of the uncertainty is traced.…”

Section: Introductionmentioning

confidence: 99%

RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

Dong

Liu

Yao

et al. 2016

Advances in Mechanical Engineering

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This article introduces a new H ' loop-shaping control to decrease the complexity of the appropriate selection of the required performance for a coaxial rotor helicopter with unpredicted or unknown unstructured uncertainties. Uncertainty models are normally assumed that some knowledge of type is known. And to model a particular uncertainty as a separate model is necessary in the high-performance design of specified applications. But to model each particular uncertainty will increase the complexity of performance design for the extremely complex plant. H ' loop-shaping control provides a competitive and flexible choice to simultaneously represent a family of unpredicted and unconsidered unstructured uncertainty bounded by H ' norm. Many researches have been conducted to consider some aspects of this method, for example, the nominal stability, robustness to uncertainty, and implementation issues. However, to decrease the complexity of the appropriate selection of the required performance was not considered seriously. Therefore, a sufficient set of stable condition is derived using linear matrix inequality approach to provide the flexible performance design considering unpredicted and unknown unstructured uncertainties. Furthermore, the proposed method is applied to stabilize the attitude subsystem of a reconstructed coaxial rotor helicopter. Simulations indicate the effectiveness of the proposed method in the step response.

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Section: Introductionmentioning

confidence: 99%

RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

Dong

Liu

Yao

et al. 2016

Advances in Mechanical Engineering

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show abstract

“…http://ijass.org Such as Mettler et al and Valavanis identified quasisteady derivatives and physical parameters of the single rotor unmanned aerial vehicle (UAV) by using the Comprehensive Identification from FrEquency Responses (CIFER) tool, and developed their controller on the basis of the identified state space model; Kenneth explained the parameter estimation of an aircraft [3][4][5][6][7][8][9]. Conversely, very few studies have been conducted on parameter estimation and system identification of small coaxial rotor helicopters.…”

Section: Longitudinal and Lateral Weighting Factors Considered Inmentioning

confidence: 99%

Inflow Prediction and First Principles Modeling of a Coaxial Rotor Unmanned Aerial Vehicle in Forward Flight

Harun‐Or‐Rashid¹,

Song²,

Byun³

et al. 2015

International Journal of Aeronautical and Space Sciences

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When the speed of a coaxial rotor helicopter in forward flight increases, the wake skew angle of the rotor increases and consequently the position of the vena contracta of the upper rotor with respect to the lower rotor changes. Considering ambient air and the effect of the upper rotor, this study proposes a nonuniform inflow model for the lower rotor of a coaxial rotor helicopter in forward flight. The total required power of the coaxial rotor system was compared against Dingeldein's experimental data, and the results of the proposed model were well matched. A plant model was also developed from first principles for flight simulation, unknown parameter estimation and control analysis. The coaxial rotor helicopter used for this study was manufactured for surveillance and reconnaissance and does not have any stabilizer bar. Therefore, a feedback controller was included during flight test and parameter estimation to overcome unstable situations. Predicted responses of parameter estimation and validation show good agreement with experimental data. Therefore, the methodology described in this paper can be used to develop numerical plant model, study non-uniform inflow model, conduct performance analysis and parameter estimation of coaxial rotor as well as other rotorcrafts in forward flight.

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“…Note that position variables have been transformed from the inertial frame to the body-fixed reference frame thanks to Eq. (8).…”

Section: Iie2 Pid Controlmentioning

confidence: 99%

“…[1][2][3][4][5][6][7][8][9][10][11][12] It is no surprise that rotor UAVs offer the advantage of slow, low, hovering flight to include vertical takeoff and landing, but they are also ideal test platforms for constrained operating environements such as university reserch laboratories. For an investigator, this also offers the advantage of a better controlled environment when performing experiments.…”

Section: Introductionmentioning

confidence: 99%

Optimal Trajectory Generation and Tracking Control of a Single Coaxial Rotor UAV

Harada

Nagata

Simond

et al. 2013

AIAA Guidance, Navigation, and Control (GNC) Conference

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This paper investigates the application of optimal control to the experimental flight of a Single Coaxial Rotor (SCR) Unmanned Aerial Vehicle (UAV) conducted in the indoor flight facility of the National Defense Academy (NDA) of Japan. The optimal control problem is prescribed as a minimum-length obstacle avoidance maneuver of the SCR UAV and it is solved using pseudospectral (PS) optimal control theory. The optimal trajectory is computed offline as a kinematic path-planning problem and then provided to the real UAV system as reference input commands. While only preliminary studies have been conducted at NDA, the results provide nominal tracking performance and validate the feasibility of the approach.

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Modeling, system identification and robust control of a coaxial micro helicopter

Cited by 92 publications

References 9 publications

RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

Inflow Prediction and First Principles Modeling of a Coaxial Rotor Unmanned Aerial Vehicle in Forward Flight

Optimal Trajectory Generation and Tracking Control of a Single Coaxial Rotor UAV

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Modeling, system identification and robust control of a coaxial micro helicopter

Cited by 92 publications

References 9 publications

RETRACTED: Flexible performance design for the H∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

RETRACTED: Flexible performance design for the H∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

Inflow Prediction and First Principles Modeling of a Coaxial Rotor Unmanned Aerial Vehicle in Forward Flight

Optimal Trajectory Generation and Tracking Control of a Single Coaxial Rotor UAV

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Product

Resources

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RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter

RETRACTED: Flexible performance design for the H_∞ loop-shaping control based on the linear matrix inequality approach: Application to the coaxial rotor helicopter