Sánchez-Meza, Victor-Gabriel ; Lozano-Hernández, Yair ; Gutiérrez-Frías, Octavio ; Lozada-Castillo, Norma ; Luviano-Juárez, Alberto
Współtwórca:Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Tytuł: Tytuł publikacji grupowej: Temat i słowa kluczowe:flat filtering control ; generalized proportional integral control ; non-linear systems ; tail rotor disturbance ; two degrees of freedom helicopter
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). ; 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.
Wydawca:Zielona Góra: Uniwersytet Zielonogórski
Data wydania: Typ zasobu: DOI: Strony: Źródło:AMCS, volume 33, number 4 (2023) ; kliknij tutaj, żeby przejść
Jezyk: Licencja CC BY 4.0: Prawa do dysponowania publikacją: