Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback

Presents a nonlinear dynamic model for a four rotors helicopter in a form suited for control design. We show that the input-output decoupling problem is not solvable for this model by means of a static state feedback control law. Then, a dynamic feedback controller is developed which renders the clo...

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Bibliographische Detailangaben
Hauptverfasser:	Mistler, V., Benallegue, A., M'Sirdi, N.K.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Adaptive control Control design Control systems Helicopters Linear feedback control systems Nonlinear dynamical systems Robust control Robust stability Stability analysis State feedback
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Beschreibung
Zusammenfassung:	Presents a nonlinear dynamic model for a four rotors helicopter in a form suited for control design. We show that the input-output decoupling problem is not solvable for this model by means of a static state feedback control law. Then, a dynamic feedback controller is developed which renders the closed-loop system linear, controllable and noninteractive after a change of coordinates in the state-space. Finally, the stability and the robustness of the proposed control law in the presence of wind, turbulences and parametric uncertainties is analyzed through a simulated case study.
DOI:	10.1109/ROMAN.2001.981968