Differential flatness based full authority helicopter control design

Author

Koo, John T. ; Sastry, Shankar

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

2

fYear

1999

fDate

1999

Firstpage

1982

Abstract

A full authority helicopter control design based on differential flatness is presented. The concept of outer flatness is deployed for the design. The position dynamics and attitude dynamics are treated as the outer and inner systems respectively. The proposed design is based on an approximate model which is differentially flat, and then modified for the exact model. Given a desired trajectory in trim flight condition, the proposed control scheme is proved to result in global exponentially stability and convergence in the trajectory error

Keywords

aircraft control; asymptotic stability; attitude control; control system synthesis; convergence; dynamics; helicopters; position control; attitude dynamics; differential flatness; full authority helicopter control design; global exponentially stability; outer flatness; position dynamics; trajectory error; trim flight condition; Control design; Convergence; Error correction; Helicopters; Intelligent robots; Performance analysis; Pneumatic actuators; Rotors; Stability; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.830928

Filename

830928