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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hongqiang Wang Daobo Wang Xinwen Niu Haibin Duan |
| Copyright Year | 2007 |
| Description | Author affiliation: Nanjing Univ. of Aeronaut. & Astronaut., Nanjing (Hongqiang Wang; Daobo Wang; Xinwen Niu) |
| Abstract | In this paper, we consider the problem of controlling a novel rotor/ducted-fan helicopter. After some qualitative introduction on the new arrangement helicopter and its flight behavior, we establish the nonlinear model of the helicopter using a top-down principle based on Newton-Euler equations. Then the linearized model for the helicopter in hover is derived in order to perform analysis and controller design. By observing the helicopter response to control inputs, we found that the coaxial ducted-fan has very different crossed-coupling characteristics in comparison with conventional helicopter, that is, the strong couplings between pitch and roll as well as vertical to yaw. This is mainly caused by the special coaxial and axial symmetric arrangement. Finally, a hover controller is designed for the helicopter by means of robust H-infinity control methodology. The selection of the weighting matrices in the process of H-infinity design is also discussed. Simulation results demonstrate the validity of the analysis and control design. |
| Starting Page | 1768 |
| Ending Page | 1773 |
| File Size | 362546 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424415311 |
| DOI | 10.1109/ICAL.2007.4338860 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-08-18 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Process design Nonlinear equations Symmetric matrices Transmission line matrix methods modeling crossed-coupling Helicopters ducted H infinity control Coaxial components H-infinity Robust control Analytical models Unmanned helicopter Performance analysis |
| Content Type | Text |
| Resource Type | Article |
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