Abstract
In this study, systematic procedure of the flight controller design for a small-scale unmanned helicopter is presented. The procedure is based on a linear dynamical model. The proposed controller is composed of state feedback and reference feedforward. Reference tracking performance is formulated in terms of L2 gain from reference inputs to tracking errors and respective integral terms. Solution of the optimal controller with minimum L2 gain is cast to the semi definite programming problem with a set of Linear Matrix Inequality (LMI) constraints. Six degree-of-freedom linear helicopter model with two degree of freedom rotor dynamics is used to illustrate the effectiveness of approach through simulations. Numerical simulations show that the stability of controlled system and boundedness of control signals against reference trajectories with bounded magnitudes are guaranteed by the proposed controller.
Original language | English |
---|---|
Title of host publication | 2015 9th International Conference on Electrical and Electronics Engineering (ELECO) |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 801-805 |
Number of pages | 5 |
ISBN (Electronic) | 9786050107371 |
DOIs | |
Publication status | Published - 1 Feb 2016 |
Event | 9th International Conference on Electrical and Electronics Engineering - Bursa, Turkey Duration: 26 Nov 2015 → 28 Nov 2015 http://www.eleco.org.tr/ELECO2015/index.htm (Link to conference website ) |
Conference
Conference | 9th International Conference on Electrical and Electronics Engineering |
---|---|
Abbreviated title | ELECO 2015 |
Country/Territory | Turkey |
City | Bursa |
Period | 26/11/15 → 28/11/15 |
Internet address |
|
ASJC Scopus subject areas
- Electrical and Electronic Engineering