Articles liés à Autonomous Helicopter Landing: Aviation Control System...

Autonomous Helicopter Landing: Aviation Control System for a Flying Robot - Couverture souple

Hasan, Mohamed

 
9783659696817: Autonomous Helicopter Landing: Aviation Control System for a Flying Robot
Couverture souple
ISBN 10 : 3659696811 ISBN 13 : 9783659696817
Editeur : LAP LAMBERT Academic Publishing, 2015

Synopsis

We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter during landing, while stabilizing the lateral and longitudinal position and maintaining a constant attitude. The dynamics of the helicopter main and tail rotors are often neglected to simplify the control design, but this reduction has the disadvantage of an unreal choice of the control inputs. We have solved this contradiction by choosing the main controller required for performing the secure landing by neglecting the complex rotors dynamics, and then we have included these important dynamics in a closed loop model having real controls determined from an auxiliary controller. Simulation results show the effectiveness of the method to cope with uncertainties on the plant and actuator model. We apply a nonlinear controller which combines recent results on nonlinear adaptive output regulation and robust stabilization of systems in feed forward form by means of saturated controls. The added dynamics required the design of an auxiliary controller to force the states of the main and tail rotors systems to follow their reference values determined from the main controller.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

We consider the problem of controlling the vertical motion of a nonlinear model of a helicopter during landing, while stabilizing the lateral and longitudinal position and maintaining a constant attitude. The dynamics of the helicopter main and tail rotors are often neglected to simplify the control design, but this reduction has the disadvantage of an unreal choice of the control inputs. We have solved this contradiction by choosing the main controller required for performing the secure landing by neglecting the complex rotors dynamics, and then we have included these important dynamics in a closed loop model having real controls determined from an auxiliary controller. Simulation results show the effectiveness of the method to cope with uncertainties on the plant and actuator model. We apply a nonlinear controller which combines recent results on nonlinear adaptive output regulation and robust stabilization of systems in feed forward form by means of saturated controls. The added dynamics required the design of an auxiliary controller to force the states of the main and tail rotors systems to follow their reference values determined from the main controller.

Biographie de l'auteur

Hasan received B.Sc. and M.Sc. in electrical engineering from Benha University, Egypt, in 2001 and 2007 respectively. He obtained PhD in mechatronics and robotics engineering from Egypt-Japan University of Science and Technology (jointly with Osaka University, Japan) in 2013. His research interests include robotics, control and computer vision.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2015
Langue
anglais
ISBN 10 
3659696811
ISBN 13 
9783659696817
Reliure
Broché
Nombre de pages
104
Coordonnées du fabricant
non disponible
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