DocumentCode
2316203
Title
Decentralized Nonlinear Control of a Laboratory Model Helicopter
Author
Khosroushahi, Reza Banaei ; Khosrowjerdi, Mohammad Javad
Author_Institution
Dept. of Electr. Eng., Sahand Univ. of Technol., Tabriz
fYear
2006
fDate
5-8 Dec. 2006
Firstpage
1
Lastpage
6
Abstract
In this paper, design, simulation and implementation of a decentralized nonlinear feedback linearization controller are addressed. The experimental results are presented, and the performance of the proposed controller is compared with a linear state feedback controller. It has been shown that the nonlinear controller has fairly better results in comparison with linear controller. Some practical tips which have been used to achieve better implementation results are discussed.
Keywords
control system synthesis; decentralised control; feedback; helicopters; linearisation techniques; nonlinear control systems; controller design; controller simulation; decentralized nonlinear control; decentralized nonlinear feedback linearization controller; laboratory model helicopter; Aerodynamics; Azimuth; Control systems; Gravity; Helicopters; Laboratories; Linear feedback control systems; MIMO; Nonlinear systems; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location
Singapore
Print_ISBN
1-4244-0341-3
Electronic_ISBN
1-4214-042-1
Type
conf
DOI
10.1109/ICARCV.2006.345096
Filename
4150006
Link To Document