Robust Helicopter Stabilization in the Face of Wind Disturbance

Kumeresan A. Danapalasingam, John-Josef Leth, Anders la Cour-Harbo, Morten Bisgaard

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28 Citationer (Scopus)
628 Downloads (Pure)


When a helicopter is required to hover with minimum
deviations from a desired position without measurements
of an affecting persistent wind disturbance, a robustly stabilizing
control action is vital. In this paper, the stabilization of
the position and translational velocity of a nonlinear helicopter
model affected by a wind disturbance is addressed. The wind
disturbance is assumed to be a sum of a fixed number of
sinusoids with unknown amplitudes, frequencies and phases. An
estimate of the disturbance is introduced to be adapted using
state measurements for control purposes. A nonlinear controller
is then designed based on nonlinear adaptive output regulations
and robust stabilization of a chain of integrators by a saturated
feedback. Simulation results show the effectiveness of the
control design in the stabilization of helicopter motion and the
built-in robustness of the controller in handling parameter and
model uncertainties.
TidsskriftI E E E Conference on Decision and Control. Proceedings
Sider (fra-til)3832 - 3837
StatusUdgivet - 2010
Begivenhed49th IEEE Conference on Decision and Control - Atlanta, USA
Varighed: 15 dec. 201017 dec. 2010


Konference49th IEEE Conference on Decision and Control

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