Title :
A Helicopter Control based on Eigenstructure Assignment
Author :
Antequera, N. ; Santos, M. ; De la Cruz, J.M.
Author_Institution :
Dept. Arquitectura de Computadores y Automatica, Univ. Complutense de Madrid
Abstract :
In this paper a controller based in the eigenvalues assignment technique is designed. The system to be stabilized is an unmanned helicopter. This eigenstructure based controller is designed considering all the measurable states. A LQ controller has also been applied to the same system in order to compare the responses regarding the robustness. The results are encouraging and prove that the eigenstructure assignment technique is useful for these nonlinear systems.
Keywords :
aircraft control; control system synthesis; eigenvalues and eigenfunctions; helicopters; linear quadratic control; mobile robots; nonlinear control systems; LQ controller; eigenstructure assignment; eigenstructure based controller design; helicopter control; nonlinear systems; unmanned helicopter; Computational modeling; Control systems; Eigenvalues and eigenfunctions; Helicopters; Nonlinear dynamical systems; Nonlinear equations; Nonlinear systems; Robust control; Solids; Vectors;
Conference_Titel :
Emerging Technologies and Factory Automation, 2006. ETFA '06. IEEE Conference on
Conference_Location :
Prague
Print_ISBN :
0-7803-9758-4
DOI :
10.1109/ETFA.2006.355429
