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2018 | OriginalPaper | Buchkapitel

10. Robust Control of a 3-DOF Helicopter with Input Dead-Zone

verfasst von : Israel U. Ponce, Angel Flores-Abad, Manuel Nandayapa

Erschienen in: Advanced Topics on Computer Vision, Control and Robotics in Mechatronics

Verlag: Springer International Publishing

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Abstract

This chapter deals with the tracking control problem of a three-degree-of-freedom (3-DOF) helicopter. The system dynamics are given by a mathematical model that considers the existence of a dead-zone phenomenon in the actuators, as well as a first-order dynamic that adds a lag in the system input. This leads to obtain an eighth-order model where the positions are the only available measurements of the system. The control problem is solved using nonlinear \( {\mathcal{H}}_{\infty } \) synthesis of time-varying systems, the dead-zone is compensated using its inverse model, and a reference model is used to deal with the first-order dynamic in the actuators. Numerical results show the effectiveness of the proposed method, which also considers external perturbations and parametric variations.

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Titel: Robust Control of a 3-DOF Helicopter with Input Dead-Zone
verfasst von: Israel U. Ponce
Angel Flores-Abad
Manuel Nandayapa
Verlag: Springer International Publishing
Buch: Advanced Topics on Computer Vision, Control and Robotics in Mechatronics
Print ISBN: 978-3-319-77769-6

Electronic ISBN: 978-3-319-77770-2

Copyright-Jahr: 2018
DOI: https://doi.org/10.1007/978-3-319-77770-2_10

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