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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. & la Cour-Harbo, A.
01/08/2009 → 01/01/2012
Project: Research
Equipment
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Drone Research Lab
Anders la Cour-Harbo (Manager), Simon Jensen (Operator), Frank Høgh Rasmussen (Other), Jesper Dejgaard Meyer (Other), Aitor Ramirez Gomez (Other), O. M. Bektash (Other), Tobias Leth (Other), Luminita Cristiana Totu (Other), Jacob Naundrup Pedersen (Other), Stefano Primatesta (Other), Petr Gabrlik (Other) & Morten Bisgaard (Operator)
Department of Electronic SystemsFacility: Testing facility