ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST

Adnan Martini, François Léonard, Gabriel Abba

Abstract

The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters.The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. Here, a nonlinear simple model with 3-DOF of a helicopter with unknown disturbances is used. Two approaches of robust control are compared via simulations: a nonlinear feedback and an active disturbance rejection control based on a nonlinear extended state observer(ADRC).

References

  1. Byrnes, C., Priscoli, F., Isidori, A., and Kang, W. (1997). Structurally stable output regulation of nonlinear systems. Automatica, 33(2):369-385.
  2. Gao, Z., Hu, S., and Jiang, F. (2001). A novel motion control design approach based on active disturbance rejection. pages 4877-4882. Orlando, Florida USA, Proceedings of the 40th IEEE Conference on Decision and Control.
  3. G.D.Padfield (1996). Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling. Blackwell Science LTD.
  4. Hou, Y., Z. Gao, F. J., and Boulter, B. (2001). Active disturbance rejection control for web tension regulation. Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA, pages 4974- 4979.
  5. Isidori, A. (1995). Nonlinear Control Systems. SpringerVerlag, Berlin, 3rd edition edition.
  6. Jiang, F. and Gao, Z. (2001). An application of nonlinear pid control to a class of truck abs problems. IEEE Conference on Decision and Control.Orlando, FL, USA, 1:516-521.
  7. Marconi, L. and Isidori, A. (2000). Robust global stabilization of a class of uncertain feedforward nonlinear systems. Systems and Control Letters, 41:281-290.
  8. Marten, M., Ludwick, S., and Trumper, D. (2005). A loop shaping perspective for tuning controllers with adaptive feedforward cancellation. Precision Engineering, 29:27 -40.
  9. Martini, A., Léonard, F., and Abba, G. (2005). Suivi de trajectoire d'un hélicoptère drone sous rafale de vent[in french]. CFM 17ème Congrès Franc¸ais de Mécanique. Troyes, France, CD ROM.N 0.467.
  10. Slotine, J. and Li, W. (1991). Applied nonlinear control. Prentic-Hall, Inc.
  11. Vilchis, A., Brogliato, B., Dzul, L., and Lozano, R. (2003). Nonlinear modeling and control of helicopters. Automatica, 39:1583 -1596.
  12. Wei, W. (2001). Approximate output regulation of a class of nonlinear systems. Journal of Process Control, 11:69- 80.
  13. Zeller, J., Zhu, M., T.Stimac, and Gao, Z. (2001). Nonlinear digital control implementation for a dc-dc power converter. Proc. of 36th Intersociety Energy Conversion Engineering Conference IECEC01, Savannah, Georgia.
  14. ro 0
  15. -d0.02
  16. -A0.04
Download


Paper Citation


in Harvard Style

Martini A., Léonard F. and Abba G. (2007). ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 333-340. DOI: 10.5220/0001644403330340


in Bibtex Style

@conference{icinco07,
author={Adnan Martini and François Léonard and Gabriel Abba},
title={ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={333-340},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644403330340},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST
SN - 978-972-8865-83-2
AU - Martini A.
AU - Léonard F.
AU - Abba G.
PY - 2007
SP - 333
EP - 340
DO - 10.5220/0001644403330340