Control of a laboratory helicopter using switched 2-step feedback linearization

Lopez-Martinez, M.; Díaz, José Quintanal; Ortega, Manuel G.; Rubio, Francisco

doi:10.23919/acc.2004.1383989

Cited by 31 publications

(17 citation statements)

References 8 publications

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“…Regarding the control of the TRAS, a simulation study of a nonlinear predictive control is presented for a ninth-order model in Dutka et al (2003). In Lopez-Martinez et al (2004), a feedback-linearising control scheme is proposed for the pitch motion only. Therein, the yaw angle is not considered as a DOF.…”

Section: Introductionmentioning

confidence: 99%

Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter

Butt

Aschemann

2015

IFAC-PapersOnLine

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In this paper, a multi-variable nonlinear control-oriented model of a twin rotor aerodynamic system (TRAS) is presented. The mathematical description of the multibody system is derived using Lagrange's equations. Based on the resulting state-space representation, a multi-variable integral sliding mode control is designed to accurately track desired trajectories for both the azimuth angle and the pitch angle. Due to unmeasurable states and uncertainties stemming from simplifications at modelling as well as disturbance torques, a discrete-time extended Kalman filter (EKF) is employed and combined with a discrete-time implementation of the nonlinear control law. The proposed control strategy allows for an excellent tracking behaviour as highlighted by experimental results.

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Section: Introductionmentioning

confidence: 99%

Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter

Butt

Aschemann

2015

IFAC-PapersOnLine

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“…Moreover, the authors investigated a non-linear predictive control in a simulation study. In (Lopez-Martinez et al, 2004), a feedback linearising control scheme is presented for the pitch angle only. Therein, the yaw angle is not considered as a DOF.…”

Section: Introductionmentioning

confidence: 99%

Control Design by Extended Linearisation Techniques for a Two Degrees of Freedom Helicopter

2015

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In this paper, a decentralised tracking control based on extended linearisation techniques is presented for a two rotor laboratory helicopter with two degrees of freedom. Employing Lagrange's equations, a nonlinear control-oriented state-space model can be derived. It is rewritten in a quasi-linear form -without any simplifications -with state-dependent matrices as a basis for the decentralised feedforward and feedback control design. The control task consists in tracking accurately desired trajectories for both the azimuth angle and the pitch angle. Due to unmeasurable states as well as uncertainties stemming from both model simplifications at modelling and unknown disturbance torques, an unscented Kalman filter is employed and combined with a discrete-time implementation of the nonlinear control law. The efficiency of the proposed controller is demonstrated by results from an experimental set-up.

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“…Various studies about this process can be found in literature with respect to tracking and regulation problem, see (Su et al, 2002;Lopez-Martinez et al, 2004;Yu, 2007;M. et al, 2010;Neto et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Comparison of control strategies for a 2 DOF helicopter

Sharma¹,

Pfeiffer²

2017

Linköping Electronic Conference Proceedings

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The two degrees of freedom (2-DOF) helicopter is an openloop unstable multi-variable process. Various control strategies can be applied to stabilize the system for tracking and regulation problems but not all control methods show equal capabilities for stabilizing the system. This paper compares the implementation of a classical PID controller, a linear quadratic regulator with integral action (LQR+I) and a model predictive controller (MPC) for stabilizing the system. It has been hypothesized that for such an unstable MIMO (multi input multi output) process showing cross coupling behavior, the model based controllers produces smoother control inputs than the classical controller. The paper also discusses the necessity of including the derivative part of the PID controller for stabilization and its influence to the measurement noises. A Kalman filter used for estimating unmeasured states may produce bias due to model mismatch. The implementation and comparison is based on a 2-DOF experimental helicopter prototype.

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Control of a laboratory helicopter using switched 2-step feedback linearization

Cited by 31 publications

References 8 publications

Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter

Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter

Control Design by Extended Linearisation Techniques for a Two Degrees of Freedom Helicopter

Comparison of control strategies for a 2 DOF helicopter

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