TY - CONF

T1 - Robust Helicopter Stabilization in the Face of Wind Disturbance

A1 - A. Danapalasingam,Kumeresan

A1 - Leth,John-Josef

A1 - la Cour-Harbo,Anders

A1 - Bisgaard,Morten

AU - A. Danapalasingam,Kumeresan

AU - Leth,John-Josef

AU - la Cour-Harbo,Anders

AU - Bisgaard,Morten

PB - I E E E I E E E Control Systems Society

PY - 2010

Y1 - 2010

N2 - When a helicopter is required to hover with minimum<br/>deviations from a desired position without measurements<br/>of an affecting persistent wind disturbance, a robustly stabilizing<br/>control action is vital. In this paper, the stabilization of<br/>the position and translational velocity of a nonlinear helicopter<br/>model affected by a wind disturbance is addressed. The wind<br/>disturbance is assumed to be a sum of a fixed number of<br/>sinusoids with unknown amplitudes, frequencies and phases. An<br/>estimate of the disturbance is introduced to be adapted using<br/>state measurements for control purposes. A nonlinear controller<br/>is then designed based on nonlinear adaptive output regulations<br/>and robust stabilization of a chain of integrators by a saturated<br/>feedback. Simulation results show the effectiveness of the<br/>control design in the stabilization of helicopter motion and the<br/>built-in robustness of the controller in handling parameter and<br/>model uncertainties.

AB - When a helicopter is required to hover with minimum<br/>deviations from a desired position without measurements<br/>of an affecting persistent wind disturbance, a robustly stabilizing<br/>control action is vital. In this paper, the stabilization of<br/>the position and translational velocity of a nonlinear helicopter<br/>model affected by a wind disturbance is addressed. The wind<br/>disturbance is assumed to be a sum of a fixed number of<br/>sinusoids with unknown amplitudes, frequencies and phases. An<br/>estimate of the disturbance is introduced to be adapted using<br/>state measurements for control purposes. A nonlinear controller<br/>is then designed based on nonlinear adaptive output regulations<br/>and robust stabilization of a chain of integrators by a saturated<br/>feedback. Simulation results show the effectiveness of the<br/>control design in the stabilization of helicopter motion and the<br/>built-in robustness of the controller in handling parameter and<br/>model uncertainties.

U2 - 10.1109/CDC.2010.5717418

DO - 10.1109/CDC.2010.5717418

JO - I E E E Conference on Decision and Control. Proceedings

JF - I E E E Conference on Decision and Control. Proceedings

SN - 0743-1546

SP - 3832

EP - 3837

ER -