@misc{Sánchez-Meza_Victor-Gabriel_Robust,
 author={Sánchez-Meza, Victor-Gabriel and Lozano-Hernández, Yair and Gutiérrez-Frías, Octavio and Lozada-Castillo, Norma and Luviano-Juárez, Alberto},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model).},
 abstract={Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle, given by the z axis, is in free form, while the pitch angle, which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.},
 type={artykuł},
 title={Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances},
 keywords={flat filtering control, generalized proportional integral control, non-linear systems, tail rotor disturbance, two degrees of freedom helicopter},
}