A backstepping approach to multivariable robust constraint satisfaction with application to a VTOL helicopter

Author

Bürger, Mathias ; Guay, Martin

Author_Institution

Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

5239

Lastpage

5244

Abstract

A recursive procedure is proposed to reduce a set of inequality constraints of high relative order to single constraints of relative order one for a class of uncertain, multi-input nonlinear systems. A modification of a nominal control signal on the newly constructed constraints guarantees robust constraint satisfaction. The resulting robust invariant controller is applied to the constrained flight and the obstacle avoidance problem of a VTOL helicopter.

Keywords

collision avoidance; helicopters; multivariable control systems; nonlinear control systems; operations research; robust control; uncertain systems; VTOL helicopter; backstepping approach; multiinput nonlinear systems; multivariable robust constraint satisfaction; nominal control signal; obstacle avoidance problem; Backstepping; Control systems; Helicopters; Linear systems; Nonlinear systems; Process control; Robust control; Robustness; Safety; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399664

Filename

5399664