Robust Helicopter Stabilization in the Face of Wind Disturbance

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

Research output: Contribution to journalConference article in JournalResearchpeer-review

27 Citations (Scopus)
585 Downloads (Pure)

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.
Original languageEnglish
JournalI E E E Conference on Decision and Control. Proceedings
Pages (from-to)3832 - 3837
ISSN0743-1546
DOIs
Publication statusPublished - 2010
Event49th IEEE Conference on Decision and Control - Atlanta, United States
Duration: 15 Dec 201017 Dec 2010

Conference

Conference49th IEEE Conference on Decision and Control
CountryUnited States
CityAtlanta
Period15/12/201017/12/2010

Fingerprint

Helicopter
Helicopters
Stabilization
Disturbance
Robust Stabilization
Parameter Uncertainty
Robustness (control systems)
Robustness
Controller
Unknown
Controllers
Motion
Output
Simulation

Cite this

@inproceedings{b7a04ff6763d4ffd906cac0f48e887bb,
title = "Robust Helicopter Stabilization in the Face of Wind Disturbance",
abstract = "When a helicopter is required to hover with minimumdeviations from a desired position without measurementsof an affecting persistent wind disturbance, a robustly stabilizingcontrol action is vital. In this paper, the stabilization ofthe position and translational velocity of a nonlinear helicoptermodel affected by a wind disturbance is addressed. The winddisturbance is assumed to be a sum of a fixed number ofsinusoids with unknown amplitudes, frequencies and phases. Anestimate of the disturbance is introduced to be adapted usingstate measurements for control purposes. A nonlinear controlleris then designed based on nonlinear adaptive output regulationsand robust stabilization of a chain of integrators by a saturatedfeedback. Simulation results show the effectiveness of thecontrol design in the stabilization of helicopter motion and thebuilt-in robustness of the controller in handling parameter andmodel uncertainties.",
author = "{A. Danapalasingam}, Kumeresan and John-Josef Leth and {la Cour-Harbo}, Anders and Morten Bisgaard",
year = "2010",
doi = "10.1109/CDC.2010.5717418",
language = "English",
pages = "3832 -- 3837",
journal = "I E E E Conference on Decision and Control. Proceedings",
issn = "0743-1546",
publisher = "IEEE Computer Society Press",

}

Robust Helicopter Stabilization in the Face of Wind Disturbance. / A. Danapalasingam, Kumeresan; Leth, John-Josef; la Cour-Harbo, Anders; Bisgaard, Morten.

In: I E E E Conference on Decision and Control. Proceedings, 2010, p. 3832 - 3837.

Research output: Contribution to journalConference article in JournalResearchpeer-review

TY - GEN

T1 - Robust Helicopter Stabilization in the Face of Wind Disturbance

AU - A. Danapalasingam, Kumeresan

AU - Leth, John-Josef

AU - la Cour-Harbo, Anders

AU - Bisgaard, Morten

PY - 2010

Y1 - 2010

N2 - When a helicopter is required to hover with minimumdeviations from a desired position without measurementsof an affecting persistent wind disturbance, a robustly stabilizingcontrol action is vital. In this paper, the stabilization ofthe position and translational velocity of a nonlinear helicoptermodel affected by a wind disturbance is addressed. The winddisturbance is assumed to be a sum of a fixed number ofsinusoids with unknown amplitudes, frequencies and phases. Anestimate of the disturbance is introduced to be adapted usingstate measurements for control purposes. A nonlinear controlleris then designed based on nonlinear adaptive output regulationsand robust stabilization of a chain of integrators by a saturatedfeedback. Simulation results show the effectiveness of thecontrol design in the stabilization of helicopter motion and thebuilt-in robustness of the controller in handling parameter andmodel uncertainties.

AB - When a helicopter is required to hover with minimumdeviations from a desired position without measurementsof an affecting persistent wind disturbance, a robustly stabilizingcontrol action is vital. In this paper, the stabilization ofthe position and translational velocity of a nonlinear helicoptermodel affected by a wind disturbance is addressed. The winddisturbance is assumed to be a sum of a fixed number ofsinusoids with unknown amplitudes, frequencies and phases. Anestimate of the disturbance is introduced to be adapted usingstate measurements for control purposes. A nonlinear controlleris then designed based on nonlinear adaptive output regulationsand robust stabilization of a chain of integrators by a saturatedfeedback. Simulation results show the effectiveness of thecontrol design in the stabilization of helicopter motion and thebuilt-in robustness of the controller in handling parameter andmodel uncertainties.

U2 - 10.1109/CDC.2010.5717418

DO - 10.1109/CDC.2010.5717418

M3 - Conference article in Journal

SP - 3832

EP - 3837

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

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