NDLI: Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter

Please wait, while we are loading the content...

International Journal of Control, Automation and Systems : Volume 15

International Journal of Control, Automation and Systems : Volume 14

International Journal of Control, Automation and Systems : Volume 13

International Journal of Control, Automation and Systems : Volume 12

International Journal of Control, Automation and Systems : Volume 11

International Journal of Control, Automation and Systems : Volume 10

International Journal of Control, Automation and Systems : Volume 10, Issue 6, December 2012

International Journal of Control, Automation and Systems : Volume 10, Issue 5, October 2012

International Journal of Control, Automation and Systems : Volume 10, Issue 4, August 2012

International Journal of Control, Automation and Systems : Volume 10, Issue 3, June 2012

International Journal of Control, Automation and Systems : Volume 10, Issue 2, April 2012

International Journal of Control, Automation and Systems : Volume 10, Issue 1, February 2012

An iterative approach to determine the complexity of local models for robust identification of nonlinear systems

Multiple-model adaptive control for interval plants

Development of a general robust H $_{∞}$ singular filter design method for uncertain discrete descriptor systems with time delay

Leader-follower consensus for a class of nonlinear multi-agent systems

Electrical energy quality: Modeling and H$^{∞}$ control of a three-phase shunt active filter

Path tracking control of Lagrange systems with obstacle avoidance

Design and implementation of a hybrid fuzzy logic controller for a quadrotor VTOL vehicle

L $_{2}$ disturbance attenuation control for input saturated spacecraft attitude stabilization without angular velocity measurements

Passive internet-based crane teleoperation with haptic aids

Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter

An enhanced CSLAM for multi-robot based on unscented kalman filter

A study on reliability enhancement for laser and camera calibration

On the design of a disturbance observer for moving target tracking of an autonomous surveillance robot

Incremental motion learning through kinesthetic teachings and new motion production from learned motions by a humanoid robot

Object motion tracking using a moving direction estimate and color updates

A delay partitioning approach to delay-range-dependent stability analysis of fuzzy systems

Fault diagnosis and optimal fault-tolerant control for systems with delayed measurements and states

Adaptive robust H $_{∞}$ control of time delay systems with unknown uncertainty bounds

An efficient initialization approach of Q-learning for mobile robots

Model free control based on GIMC structure

Model approximation of multiple delay transfer function models using multiple-point step response fitting

A twofold-interpolation-based path planning algorithm and its path following based on improved virtual vehicle method

Predictor-corrector type multi-rate sample hold for continuous estimated outputs

Novel delay-dependent stability criteria for stochastic systems with time-varying interval delay

International Journal of Control, Automation and Systems : Volume 9

International Journal of Control, Automation and Systems : Volume 8

International Journal of Control, Automation and Systems : Volume 7

Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter

Content Provider	Springer Nature Link
Author	Kim, Ho Chan Dharmayanda, Hardian Reza Kang, Taesam Budiyono, Agus Lee, Gigun Adiprawita, Widyawardana
Copyright Year	2012
Abstract	Rigorous control synthesis for an unmanned aerial vehicle necessitates the availability of a good, reasonable model for such a vehicle. The work reported in this paper focuses on the modeling of a rotary unmanned aerial vehicle (RUAV) and the development of a robust controller that can handle parameter uncertainties and disturbances. The parameters of the plant model are obtained through the use of the prediction error method with real flight data. The response of the identified linear model shows a good match with the measured flight data. The H $_{∞}$ control scheme is applied to obtain a robustly stable controller using the identified model. The proposed controller is analyzed using frequency-domain analysis and time-domain simulations. The performance of the proposed H $_{∞}$ controller is better than that of the conventional proportional derivative controller in that the proposed controller has a shorter settling time and less overshoot. Furthermore, the degradation of the proposed controller performance is negligible and stability is maintained when the input gains to the plant are doubled, which demonstrates the good performance and robustness of the controller.
Starting Page	88
Ending Page	101
Page Count	14
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	10
Issue Number	1
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2012-02-04
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	6-DOF dynamic models robust control small-scale helicopter system identification Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Nonlinear dynamic modeling and control of a small-scale helicopter

Robust H∞ Hybrid Observer-Controller Design With Application to Attitude Control of 2-DOF Helicopter

Nonlinear disturbance observer based robust attitude tracking controller for quadrotor UAVs

Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

Design of 6-DOF attitude controller of hovering model helicopter

Robust multi-mode flight control design for an unmanned helicopter based on multi-loop structure

Dynamic output feedback robust H $_{∞}$ control of uncertain switched nonlinear systems

A Location Tracking Control for Unmanned Small Scale Helicopter Using Sliding Mode Controller

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter

Similar Documents

Nonlinear dynamic modeling and control of a small-scale helicopter

Robust H∞ Hybrid Observer-Controller Design With Application to Attitude Control of 2-DOF Helicopter

Nonlinear disturbance observer based robust attitude tracking controller for quadrotor UAVs

Nonlinear asymptotic attitude tracking control of an underactuated 3-degree-of-freedom helicopter using neural network feedforward term

Design of 6-DOF attitude controller of hovering model helicopter

Robust multi-mode flight control design for an unmanned helicopter based on multi-loop structure

Dynamic output feedback robust H $_{∞}$ control of uncertain switched nonlinear systems

A Location Tracking Control for Unmanned Small Scale Helicopter Using Sliding Mode Controller

Modeling and Robust Attitude Controller Design for a Small Size Helicopter

Parameter identification and design of a robust attitude controller using H $_{∞}$ methodology for the raptor E620 small-scale helicopter