Rotor state feedback in helicopter flight control: Robustness and fault tolerance

Panza, Simone; Lovera, Marco

doi:10.1109/cca.2014.6981387

Cited by 11 publications

(4 citation statements)

References 12 publications

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“…inertia parameters, flexbeam structural parameters, etc.) is of particular importance to guarantee the stability of the closed-loop system during the optimization process [34]. As an example, the FCS system has to exhibit a strong degree of robustness towards the values of airframe moments of inertia.…”

Section: Robustness To Parameter Uncertaintymentioning

confidence: 99%

Handling Qualities in Rotorcraft Conceptual Design

Zanoni

Gerosa

Lallo

et al. 2022

Aerotec. Missili Spaz.

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This paper presents the development of a rotorcraft conceptual design tool able to incorporate handling qualities assessment at an early design stage. After a first conventional sizing, performed utilizing NASA’s NDARC software, a linearized model of the rotorcraft flight mechanics is built. The linear model is augmented by a simplified control system, designed according to structured $$H_{\infty }$$ H ∞ techniques, to determine augmentation requirements, rather than design the actual flight control system. ADS-33 Bandwidth and Phase-Delay standards are exploited to objectively assess the handling qualities of the current design and to drive an iterative redesign process aimed at enhancing the handling qualities ratings. The rotorcraft parameters resulting from the augmented sizing are subsequently used to automatically generate a real-time capable multibody model, which can be used for the subjective evaluation of its handling qualities via piloted flight simulation. The tool capabilities are demonstrated by designing a conventional lightweight helicopter of the class of the Airbus Helicopters BO105.

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Section: Robustness To Parameter Uncertaintymentioning

confidence: 99%

Handling Qualities in Rotorcraft Conceptual Design

Zanoni

Gerosa

Lallo

et al. 2022

Aerotec. Missili Spaz.

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“…They conclude that the controllers designed to meet the high bandwidth requirements with the rotor dynamics were more robust and required lower control activity than the ones designed without including the rotor dynamics. Panza and Lovera [8] used rotor state feedback and designed an H ∞ controller which is robust and also fault tolerant with respect to failure of the rotor state sensor. Previous attempts to smallscale helicopter attitude control are mostly based on attitude parametrization such as Euler angles, which suffer from singularity issues, or quaternions which have ambiguity in representation.…”

Section: A Related Workmentioning

confidence: 99%

“…The significance of including the rotor dynamics in controller design for helicopters has been extensively studied in the literature [5]- [8]. Hall Jr and Bryson Jr [5] have shown the importance of rotor state feedback in achieving tight attitude control for large scale helicopters, Takahashi [6] compares H ∞ attitude controller design for the cases with and without rotor state feedback.…”

Section: A Related Workmentioning

confidence: 99%

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

Raj

Banavar

Abhishek

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The first, employs the angular velocity and the flap angle states (a variable that is not easy to measure) and uses a backstepping technique to design a robust compensator (BRC) to actively suppress the disturbance induced tracking error. 2. The second exploits the inherent damping present in the helicopter dynamics leading to a structure preserving, passively robust controller (SPR), which is free of angular velocity and flap angle feedback. The BRC controller is designed to be robust in the presence of two types of uncertainties: structured and unstructured. The structured disturbance is due to uncertainty in the rotor parameters, and the unstructured perturbation is modeled as an exogenous torque acting on the fuselage. The performance of the controller is demonstrated in the presence of both types of disturbances through numerical simulations. In contrast, the SPR tracking controller is derived such that the tracking error dynamics inherits the natural damping characteristic of the helicopter. The SPR controller is shown to be almost globally asymptotically stable and its performance is evaluated experimentally by performing aggressive flip maneuvers. Throughout the study, a nonlinear coupled rotor-fuselage helicopter model with first order flap dynamics is used.

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“…The control moments are produced by the rotor subsystem which has a first order dynamics [4]. The importance of including rotor dynamics in controller design for large scale helicopters has been extensively studied in the literature [5], [6], [7], [8]. Hall and Bryson [5] have shown the importance of rotor state feedback in achieving tight attitude control for large scale helicopters, while Takahashi [6] compares H ∞ attitude controller design for cases with and without rotor state feedback.…”

Section: Introductionmentioning

confidence: 99%

Attitude tracking control for aerobatic helicopters: A geometric approach

Raj

Banavar

Abhishek

et al. 2017

2017 IEEE 56th Annual Conference on Decision and Control (CDC)

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We consider the problem of attitude tracking for small-scale aerobatic helicopters. A small scale helicopter has two subsystems: the fuselage, modeled as a rigid body; and the rotor, modeled as a first order system. Due to the coupling between rotor and fuselage, the complete system does not inherit the structure of a simple mechanical system. The coupled rotor fuselage dynamics is first transformed to rigid body attitude tracking problem with a first order actuator dynamics. The proposed controller is developed using geometric and backstepping control technique. The controller is globally defined on SO(3) and is shown to be locally exponentially stable. The controller is validated in simulation and experiment for a 10 kg class small scale flybarless helicopter by demonstrating aggressive roll attitude tracking.

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Rotor state feedback in helicopter flight control: Robustness and fault tolerance

Cited by 11 publications

References 12 publications

Handling Qualities in Rotorcraft Conceptual Design

Handling Qualities in Rotorcraft Conceptual Design

Robust Attitude Tracking for Aerobatic Helicopters: A Geometric Approach

Attitude tracking control for aerobatic helicopters: A geometric approach

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