Title :
A two-time-scale controller for a differentially cross-coupled system
Author :
Mullhaupt, P. ; Srinivassn, B. ; Bonvin, D.
Author_Institution :
Inst. de Genie Atomique, Ecole Polytech. Fed. de Lausanne, Switzerland
Abstract :
Control of underactuated mechanical systems often leads to unstable internal dynamics, which can be handled by resorting to prediction when the system bandwidth is small. The paper considers systems with a high bandwidth and proposes a two-time-scale controller for decoupling the system while ensuring internal stability. A toy helicopter in which the speed of the propellers is manipulated to vary the aerodynamic force is taken up as a case study
Keywords :
discrete time systems; dynamics; feedback; linear systems; nonlinear control systems; predictive control; stability; velocity control; aerodynamic force; differentially cross-coupled system; high bandwidth system; propeller speed control; toy helicopter; two-time-scale controller; underactuated mechanical systems; unstable internal dynamics; Aerodynamics; Bandwidth; Control systems; Helicopters; Linear systems; Mechanical systems; Nonlinear control systems; Propellers; Stability; State feedback;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609574
