Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6684
Title: A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Keywords: Nonlinear systems
Robust control
Model helicopter
Issue Date: Jul-2017
Publisher: IFAC Secretariat
Source: Bıdıklı, B., Tatlıcıoğlu, E., and Zergeroğlu, E. (2017). A new robust controller formulation for the full–state feedback position tracking of a small–scaled unmanned model helicopter. IFAC-PapersOnLine, 50(1), 4819-4824. doi:10.1016/j.ifacol.2017.08.967
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
ISSN: 2405-8963
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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