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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.
| Original language | English |
|---|---|
| Journal | I E E E Conference on Decision and Control. Proceedings |
| Pages (from-to) | 3832 - 3837 |
| ISSN | 0743-1546 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 49th IEEE Conference on Decision and Control - Atlanta, United States Duration: 15 Dec 2010 → 17 Dec 2010 |
Conference
| Conference | 49th IEEE Conference on Decision and Control |
|---|---|
| Country/Territory | United States |
| City | Atlanta |
| Period | 15/12/2010 → 17/12/2010 |
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Dive into the research topics of 'Robust Helicopter Stabilization in the Face of Wind Disturbance'. Together they form a unique fingerprint.Projects
- 1 Finished
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Autonomous Aerial Sensors for Wind Power Meteorology
Giebel, G. (Project Coordinator) & la Cour-Harbo, A. (Project Participant)
01/08/2009 → 01/01/2012
Project: Research
Equipment
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Drone Research Lab
la Cour-Harbo, A. (Manager), Jensen, S. (Operator), Rasmussen, F. H. (Other), Dejgaard Meyer, J. (Other), Gomez, A. R. (Other), Bektash, O. M. (Other), Leth, T. (Other), Totu, L. C. (Other), Pedersen, J. N. (Other), Primatesta, S. (Other), Gabrlik, P. (Other) & Bisgaard, M. (Operator)
Department of Electronic SystemsFacility: Testing facility