Nonlinear robust control of a small-scale helicopter on a test bench

Song, Baoquan; Mills, James K.; Huang, Haibo; Liu, Yunhui; Fan, Caizhi

doi:10.1080/00207170903419713

Cited by 6 publications

(4 citation statements)

References 12 publications

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“…In our previous work, we studied the nonlinear attitude system and control of the model helicopter on the test bench and proved that the attitude subsystem can be linearized by the dynamic feedback linearization technique [19,20]. Then, the key characteristics of the model helicopter were studied in [21], and we proved that the simplified attitudeheave subsystem, in which the angular velocity cross product is ignored, can be transformed to linear system by the dynamic feedback linearization technique [21].…”

Section: Introductionmentioning

confidence: 98%

Feedback linearization of the nonlinear model of a small-scale helicopter

Song

Liu

Fan

2010

J. Control Theory Appl.

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In order to design a nonlinear controller for small-scale autonomous helicopters, the dynamic characteristics of a model helicopter are investigated, and an integrated nonlinear model of a small-scale helicopter for hovering control is presented. It is proved that the nonlinear system of the small-scale helicopter can be transformed to a linear system using the dynamic feedback linearization technique. Finally, simulations are carried out to validate the nonlinear controller.

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Section: Introductionmentioning

confidence: 98%

Feedback linearization of the nonlinear model of a small-scale helicopter

Song

Liu

Fan

2010

J. Control Theory Appl.

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“…However, the authors used the stabilizer bar's dynamics in order to analyze the stability properties of the zero dynamics. In [18], a dynamic model of the helicopter including the rotor and stabilizer bar dynamics is presented. In this work, a nonlinear robust controller, is designed to simultaneously satisfy multiple conflicting close loop performance specifications by means of the Convex Integrated Design (CID) method.…”

Section: Introductionmentioning

confidence: 99%

“…(28) which was obtained by solving (22) for θ andθ and replacing the solution into (17) and (18). From (28) we verify that the original states converge to…”

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confidence: 98%

A static feedback stabilizer for the longitudinal dynamics of a small scale helicopter including the rotor dynamics with stabilizer bar

Benitez-Morales

Rodriguez-Cortes

Castro‐Linares

2013

2013 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this paper we propose a solution to the trajectory tracking problem for a small scale helicopters longitudinal dynamics. The controller results from a control design technique that constructs static feedback stabilizers for dynamically feedback linearizable nonlinear systems. The flatness characteristics of the helicopter's longitudinal dynamics are used to construct the desired trajectory showing that the main rotor thrust is never equal zero. Numerical simulations show the performance of the controller even in the case that the main rotor and stabilizer bar dynamics are included.

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“…Collecting helicopter flight data is a challenging task because of the inherent instability of the system. A trend in previous research (Lidstone, 2003); (Song, 2010) has been to affix the rotorcraft to a safety structure in an attempt to lower the risks of experimentation. The main disadvantage of this approach is that the safety structures unavoidably affect the dynamics of the system deteriorating the model fidelity under real operation conditions.…”

Section: Introductionmentioning

confidence: 99%

Identification of Orientation Dynamics of Miniature Helicopter in Hover Mode

Vigouroux¹,

Beainy²,

Commuri³

2013

Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics

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Reliable operation of helicopters in hover mode is essential for carrying out missions of surveillance, reconnaissance, and deployment of communication networks in disaster hit areas, among many others. Achieving autonomous operation in hover mode requires the development of robust model-based controllers. In this paper, the use of linear and nonlinear models to identify the orientation dynamics of a small scale helicopter is addressed. A linear architecture that combines the input-output dynamics and perturbation-output dynamics is introduced in this paper. In contrast to the linear models that have been reported in the literature, no assumptions about decoupled roll-pitch-yaw axes are made in the proposed approach. The nonlinear model of orientation dynamics is identified using artificial recurrent neural networks. Verification of these models is performed using actual data collected during the flight of the helicopter. The results show that incorporating the perturbation dynamics in the model can result in a description that can accurately predict the dynamics during actual flight conditions.

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Nonlinear robust control of a small-scale helicopter on a test bench

Cited by 6 publications

References 12 publications

Feedback linearization of the nonlinear model of a small-scale helicopter

Feedback linearization of the nonlinear model of a small-scale helicopter

A static feedback stabilizer for the longitudinal dynamics of a small scale helicopter including the rotor dynamics with stabilizer bar

Identification of Orientation Dynamics of Miniature Helicopter in Hover Mode

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