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A Liouvillian systems approach for the trajectory planning-based control of helicopter models

✍ Scribed by Hebertt Sira-Ramírez; Rafael Castro-Linares; Eduardo Licéaga-Castro

Publisher: John Wiley and Sons
Year: 2000
Tongue: English
Weight: 169 KB
Volume: 10
Category: Article
ISSN: 1049-8923
DOI: 10.1002/(sici)1099-1239(20000415)10:4<301::aid-rnc474>3.0.co;2-q

No coin nor oath required. For personal study only.

✦ Synopsis

A feedback regulation scheme, based on o!-line trajectory planning and an approximate state linearization, is proposed for the hover-to-hover stabilization of simpli"ed, underactuated, models of a helicopter system. The approach, based on the &Liouvillian' character of the helicopter kinematic equations, advantageously uses the total, or partial, di!erential #atness property of the system models. The controller performance is evaluated through digital computer simulations which include initial state setting errors of signi"cant magnitudes.

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