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Towards a Cloud Robotics Platform for Distributed Visual SLAM Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Wind Disturbance Rejection in Position Control of Unmanned Helicopter by Nonlinear Damping

Authors : Xiaorui Zhu, Lu Yin, Fucheng Deng

Published in: Computer Vision Systems

Publisher: Springer International Publishing

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Abstract

This paper presents a new design of a Lyapunov-redesigned control system for large horizontal wind disturbance rejection on a small-scale unmanned autonomous helicopter (UAH). In this paper, the wind disturbance cannot be treated as small perturbations around the equilibrium state any more. Instead, wind disturbances are considered as force/moment disturbances in the state equation. The force/moment caused by the wind can be estimated by the experimental data obtained in the wind tunnel. The whole control system consists of a nominal system controller and a wind disturbance controller. The nominal system controller is designed with back-stepping algorithm while the wind disturbance controller is designed with nonlinear damping algorithm. The nonlinear damping is introduced to ensure that the whole system has a uniformly bounded solution under uncertain large horizontal wind disturbances. Both longitudinal and lateral wind disturbances are considered in the simulation. The simulation results show the wind disturbances are well rejected and the proposed method can be effective for the position control of UAH in windy environment.

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Metadata
Title
Wind Disturbance Rejection in Position Control of Unmanned Helicopter by Nonlinear Damping
Authors
Xiaorui Zhu
Lu Yin
Fucheng Deng
Copyright Year
2017
Book
Computer Vision Systems

Print ISBN: 978-3-319-68344-7

Electronic ISBN: 978-3-319-68345-4

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-68345-4_52

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