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Periodic motion planning and nonlinear ℋ tracking control of a 3-DOF underactuated helicopter

Author

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  • Iliana M. Meza-Sánchez
  • Luis T. Aguilar
  • Anton Shiriaev
  • Leonid Freidovich
  • Yury Orlov

Abstract

Nonlinear ℋ∞ synthesis is developed to solve the tracking control problem into a 3-DOF helicopter prototype. Planning of periodic motions under a virtual constraints approach is considered prior the controller design in order to achieve our goal. A local ℋ∞ controller is derived by means of a certain perturbation of the differential Riccati equations that appear while solving the corresponding ℋ∞ control problem for the linearised system. Stabilisability and detectability properties of the control system are thus ensured by the existence of the proper solutions of the unperturbed differential Riccati equations, and hence the proposed synthesis procedure obviates an extra verification work of these properties. Due to the nature of the approach, the resulting controller additionally yields the desired robustness properties against unknown but bounded external disturbances. Convergence and robustness of the proposed design are supported by simulation results.

Suggested Citation

  • Iliana M. Meza-Sánchez & Luis T. Aguilar & Anton Shiriaev & Leonid Freidovich & Yury Orlov, 2011. "Periodic motion planning and nonlinear ℋ tracking control of a 3-DOF underactuated helicopter," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(5), pages 829-838.
    • Handle: RePEc:taf:tsysxx:v:42:y:2011:i:5:p:829-838
    DOI: 10.1080/00207721.2010.517874
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    Cited by:

    1. Xiafu Wang & You Chen & Geng Lu & Yisheng Zhong, 2015. "Robust attitude tracking control of small-scale unmanned helicopter," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(8), pages 1472-1485, June.
    2. Shiping Wen & Zhigang Zeng & Tingwen Huang, 2015. "Observer-based fuzzy control for discrete-time Takagi–Sugeno fuzzy mixed delay systems with random packet losses and multiplicative noises," International Journal of Systems Science, Taylor & Francis Journals, vol. 46(1), pages 159-169, January.

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