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Title: An affine parameter dependent controller for an autonomous helicopter at different flight conditions
Authors: Şahin, İsmail Hakkı
Kasnakoğlu, Coşku
Keywords: Gain scheduling
H-infinity control
Nonlinear modeling
Parameter dependent control
Issue Date: 2015
Source: 1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015, 10 June 2015 through 12 June 2015, , 117501
Abstract: In this paper we address the design of a controller that achieves stabilization and reference tracking at different flight conditions for an unmanned helicopter. The controller proposed is in the form of an H-infinity gain-scheduler, and is used for stabilization and reference tracking, for the 4 axis autopilot. (heave, pitch, roll and yaw control) A nonlinear helicopter model has been built, trimmed and linearized at different flight conditions. Based on the linearized models an approximate affine parameter dependent model has been constructed. Then, a linear parameter dependent controller is synthesized which stabilizes the affine parameter dependent helicopter model. By doing so, a single controller achieves stabilization and reference tracking of a family of linear models by scheduling the gains based on the online measurement of the scheduling parameter, which is the forward velocity. Moreover, the affine parameter dependent controller is fitted into the nonlinear helicopter model. It is seen that this single parameter dependent controller successfully stabilizes the nonlinear helicopter model at different flight conditions. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
ISSN: 2405-8963
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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