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Content Provider | IET Digital Library |
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Author | Liu, Hao Wang, Xiafu Zhong, Yisheng |
Abstract | Flight performances of unmanned helicopters can be affected by wind gusts especially when they are carrying out aggressive mission. In this study, robust position control problem under aggressive manoeuvres is investigated in the presence of time-varying wind disturbances for a lab helicopter. A robust controller is designed in two steps: first, a nominal static linear feedback controller is applied to obtain desired tracking for the nominal system; then, a robust compensator is introduced to restrain the influences of parameter uncertainties, non-linear uncertainties and external wind disturbances. It is proven that the position tracking errors of the closed-loop system can be guaranteed to converge to a neighbourhood of the origin with designated boundary. Experimental results on the 3-degrees of freedom helicopter confirm the effectiveness of this method. |
Starting Page | 1555 |
Ending Page | 1565 |
Page Count | 11 |
ISSN | 17518644 |
Volume Number | 8 |
e-ISSN | 17518652 |
Issue Number | Issue 15, Oct (2014) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-cta/8/15 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0799 |
Journal | IET Control Theory & Applications |
Publisher Date | 2014-07-16 |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | Aerospace Control Aggressive Manoeuvres Aircraft Control Autonomous Aerial Vehicle Closed Loop System Closed-loop System Compensation Control System Analysis Control System Synthesis External Wind Disturbances Feedback Flight Performances Helicopters Lab Helicopter Mobile Robots Nominal Static Linear Feedback Controller Nominal System Nonlinear Control System Nonlinear Uncertainties Parameter Uncertainties Position Control Position Tracking Error Robust Compensator Robust Control Robust Position Control Problem Spatial Variables Control Stability in Control Theory Synthesis Method Telerobotics Time Varying Control System Time Varying System Time-varying Wind Disturbances Uncertain System Unmanned Helicopters Wind Gusts |
Content Type | Text |
Resource Type | Article |
Subject | Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications |
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