A test bench for experimental testing of the attitude control of a small-scale helicopter is constructed. A nonlinear model with 10 states is developed for this experimental setup. The unknown model parameters are estimated using the extended Kalman filter with flight test data of the helicopter operating on the test bench. In this work, it is proved that the nonlinear helicopter dynamic model may be globally feedback linearized using the dynamic feedback linearization technique. In order to satisfy multiple closed-loop performance specifications simultaneously, a controller is proposed by applying the Convex Integrated Design (CID) method to the feedback linearized model. Finally, the controller is tested in simulation demonstrating the closed-loop performance of the proposed controller.
Understanding the dynamic characteristics of solar arrays is important for satellite structural design and attitude control design. Considerable theoretical researches have been carried out towards this problem, but they have not been supported by actual orbit data from outer space yet. In this paper, the on-orbit vibration characteristic data of solar arrays under the deployment shock are measured by using vibration measurement apparatuses based on structural strain. With these valuable experimental data, more eigenfrequencies of the solar arrays in the microgravity environment are obtained, and the prediction that the vibration of solar arrays will have larger amplitude and longer decay time under vacuum conditions is verified. Moreover, by comparing the eigenfrequency of main vibration under the space condition with that under the ground condition, the accurate value of the system damping ratio is gained, which has an important guideline significant for the structural design of solar arrays.
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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