DocumentCode :
1781655
Title :
Multi-variable flatness-based control of a helicopter with two degrees of freedom
Author :
Butt, Saif Siddique ; Prabel, Robert ; Aschemann, Harald
Author_Institution :
Univ. of Rostock, Rostock, Germany
fYear :
2014
fDate :
3-5 Nov. 2014
Firstpage :
321
Lastpage :
326
Abstract :
In this paper, a multi-variable nonlinear control of a twin rotor aerodynamical system (TRAS) is presented. A control-oriented state-space model with four states is derived employing Lagrange´s equations. Using this system representation, a multi-variable flatness-based control is designed for an accurate trajectory tracking concerning both the pitch angle characterising the vertical motion and the azimuth angle related to the horizontal motion. Due to unmeasurable states as well as disturbance torques affecting the pitch axis and the azimuth axis, a discrete-time Extended Kalman Filter (EKF) is employed and combined with a discrete-time implementation of the multi-variable flatness-based control. The effectiveness of the proposed control strategy is highlighted by experimental results from a test rig that show an excellent tracking behaviour.
Keywords :
aircraft control; helicopters; motion control; multivariable control systems; nonlinear control systems; pitch control (position); trajectory control; EKF; Lagrange equations; TRAS; control-oriented state-space model; discrete-time extended Kalman filter; discrete-time implementation; helicopter; horizontal motion; multi-variable flatness-based control; multivariable flatness-based control; multivariable nonlinear control; system representation; trajectory tracking; twin rotor aerodynamical system; two degrees of freedom; Azimuth; Equations; Helicopters; Mathematical model; Rotors; Trajectory; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Decision and Information Technologies (CoDIT), 2014 International Conference on
Conference_Location :
Metz
Type :
conf
DOI :
10.1109/CoDIT.2014.6996914
Filename :
6996914
Link To Document :
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