Robust prediction-based control for unstable delay systems: Application to the yaw control of a mini-helicopter

被引：131

作者：

Lozano, R

Castillo, P

Garcia, P

Dzul, A

机构：

[1] Heudiasyc Univ Technol Compiegne, UMR 6599, Ctr Rech Royallieu, F-60205 Compiegne, France

[2] Univ Politecn Valencia, Dept Syst Engn & Control, E-46071 Valencia, Spain

[3] Inst Tecnol Laguna, Div Estudios Posgrado & Invest, Torreon 27000, Coahuila, Mexico

来源：

AUTOMATICA | 2004年 / 40卷 / 04期

关键词：

delay systems; pole-placement; Lyapunov methods; recursive control algorithms; helicopters;

D O I：

10.1016/j.automatica.2003.10.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We present a discrete-time prediction-based state-feedback controller. It is shown that this controller stabilizes possibly unstable continuous-time delay systems. The stability is shown to be robust with respect to uncertainties in the knowledge on the plant parameters, the system delay and the sampling period. The proposed prediction-based controller has been tested in a real-time application to control the yaw angular displacement of a 4-rotor mini-helicopter. (C) 2004 Elsevier Ltd. All rights reserved.

引用

页码：603 / 612

页数：10

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