Title :
Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback
Author :
Mistler, V. ; Benallegue, A. ; M´Sirdi, N.K.
Author_Institution :
Lab. de Robotique de Paris, Velizy, France
Abstract :
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
Keywords :
attitude control; closed loop systems; control system synthesis; feedback; helicopters; linearisation techniques; microrobots; mobile robots; nonlinear dynamical systems; position control; remotely operated vehicles; robust control; state-space methods; autonomous UAVs; autonomous unmanned air vehicle; closed loop system; control design; dynamic feedback; exact linearization; four rotors helicopter; input-output decoupling problem; miniature 4 rotors helicopter; noninteracting control; parametric uncertainties; robustness; stability; state-space; turbulences; wind; Adaptive control; Control design; Control systems; Helicopters; Linear feedback control systems; Nonlinear dynamical systems; Robust control; Robust stability; Stability analysis; State feedback;
Conference_Titel :
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location :
Bordeaux, Paris
Print_ISBN :
0-7803-7222-0
DOI :
10.1109/ROMAN.2001.981968
