Nonlinear output feedback H∞-tracking control of a 3-DOF underactuated helicopter

• Nonlinear H∞-control synthesis is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter prototype. Due to the nature of the approach, the proposed controller yields the desired robustness properties against unknown bounded external disturbances. Stabilizability and detectability properties of the control system are ensured by the existence of proper solutions of the corresponding differential Riccati equations. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Performance issues of the proposed controller are illustrated via numerical simulations. 

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

Nyckelord

3-DOF underactuated helicopter

Periodic orbit

Publikations- och innehållstyp

ref (ämneskategori)

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