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Article: Output tracking control design of a helicopter model based on approximate linearization

TitleOutput tracking control design of a helicopter model based on approximate linearization
Authors
Issue Date1998
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188
Citation
Proceedings Of The Ieee Conference On Decision And Control, 1998, v. 4, p. 3635-3640 How to Cite?
AbstractIn this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for several choices of output variables exact input-output linearization fails to linearize the whole state space and results in having unstable zero dynamics. By neglecting the couplings between moments and forces, we show that the approximated system with dynamic decoupling is full state linearizable by choosing positions and heading as outputs. We prove that bounded tracking is achieved by applying the approximate control. Next, we derive a diffeomorphism showing that an approximation of the system is differentially flat, thus state trajectory and nominal inputs can be generated from a given output trajectory. Simulation results using both output tracking controllers based on exact and approximate input-output linearization are presented for comparison.
Persistent Identifierhttp://hdl.handle.net/10722/188693
ISSN

 

DC FieldValueLanguage
dc.contributor.authorKoo, TJohnen_US
dc.contributor.authorSastry, Shankaren_US
dc.date.accessioned2013-09-03T04:13:33Z-
dc.date.available2013-09-03T04:13:33Z-
dc.date.issued1998en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 1998, v. 4, p. 3635-3640en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/188693-
dc.description.abstractIn this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for several choices of output variables exact input-output linearization fails to linearize the whole state space and results in having unstable zero dynamics. By neglecting the couplings between moments and forces, we show that the approximated system with dynamic decoupling is full state linearizable by choosing positions and heading as outputs. We prove that bounded tracking is achieved by applying the approximate control. Next, we derive a diffeomorphism showing that an approximation of the system is differentially flat, thus state trajectory and nominal inputs can be generated from a given output trajectory. Simulation results using both output tracking controllers based on exact and approximate input-output linearization are presented for comparison.en_US
dc.languageengen_US
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188en_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.titleOutput tracking control design of a helicopter model based on approximate linearizationen_US
dc.typeArticleen_US
dc.identifier.emailKoo, TJohn: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJohn=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0032255577en_US
dc.identifier.volume4en_US
dc.identifier.spage3635en_US
dc.identifier.epage3640en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridKoo, TJohn=7005428590en_US
dc.identifier.scopusauthoridSastry, Shankar=35560685800en_US

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