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A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter

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Date
2017-07
Author
Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
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Abstract
This work focuses on the robust attitude tracking control problem for a small– scaled unmanned helicopter where the actual system inputs, namely the elevator servo input, the aileron servo input and the rudder servo input, are used in the controller formulation. The design process is divided into two parts. Initially the problem is transformed into a second order system with an uncertain non–symmetric input gain matrix by utilizing some reasonable simplifications for the rotor model under the hovering flight conditions. Then a novel robust control methodology is utilized via a matrix decomposition method. The stability of the overall system is ensured by Lyapunov type analysis where asymptotic position tracking is ensured. Numerical simulation results are presented to demonstrate the efficiency of the proposed method.
URI
http://doi.org/10.1016/j.ifacol.2017.08.967
http://hdl.handle.net/11147/6684
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  • Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği





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DSpace@IZTECH is member of:

IZTECH Library, Gülbahçe Kampüsü - 35430 - Urla, İzmir / TURKEY
If you find any errors in content, please contact openaccess@iyte.edu.tr or library@iyte.edu.tr.

Creative Commons Lisansı
DSpace@IZTECH by IYTE Institutional repository is licensed under a Creative Commons Attribution-Gayriticari-NoDerivs 3.0 Unported License.


DSpace software copyright © 2002-2015  DuraSpace
Contact Us | Send Feedback
Theme by 
@mire NV