Projekter pr. år
Abstract
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.
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.
Originalsprog | Engelsk |
---|---|
Tidsskrift | I E E E Conference on Decision and Control. Proceedings |
Sider (fra-til) | 3832 - 3837 |
ISSN | 0743-1546 |
DOI | |
Status | Udgivet - 2010 |
Begivenhed | 49th IEEE Conference on Decision and Control - Atlanta, USA Varighed: 15 dec. 2010 → 17 dec. 2010 |
Konference
Konference | 49th IEEE Conference on Decision and Control |
---|---|
Land/Område | USA |
By | Atlanta |
Periode | 15/12/2010 → 17/12/2010 |
Fingeraftryk
Dyk ned i forskningsemnerne om 'Robust Helicopter Stabilization in the Face of Wind Disturbance'. Sammen danner de et unikt fingeraftryk.Projekter
- 1 Afsluttet
-
Autonomous Aerial Sensors for Wind Power Meteorology
Giebel, G. & la Cour-Harbo, A.
01/08/2009 → 01/01/2012
Projekter: Projekt › Forskning
Udstyr
-
Drone Research Lab
Anders la Cour-Harbo (Leder), Simon Jensen (Operatør), Frank Høgh Rasmussen (Andre), Jesper Dejgaard Meyer (Andre), Aitor Ramirez Gomez (Andre), O. M. Bektash (Andre), Tobias Leth (Andre), Luminita Cristiana Totu (Andre), Jacob Naundrup Pedersen (Andre), Stefano Primatesta (Andre), Petr Gabrlik (Andre) & Morten Bisgaard (Operatør)
Institut for Elektroniske SystemerFacilitet: Testfacilitet