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 Journalpeer-review

29 Citations (Scopus)
644 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

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