Optimal tracking controller design for a small scale helicopter

被引：78

作者：

Budiyono, Agus ^{[1
]}

Wibowo, Singgih S. ^{[2
]}

机构：

[1] Inst Teknol Bandung, Dept Aeronaut & Astronaut, Bandung 40132, Indonesia

[2] Simundo Simulat Technol Co, Bandung 40134, Indonesia

来源：

JOURNAL OF BIONIC ENGINEERING | 2007年 / 4卷 / 04期

关键词：

small scale helicopter; optimal control; tracking control; rotorcraft-based UAV;

D O I：

10.1016/S1672-6529(07)60041-9

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A model helicopter is more difficult to control than its full scale counterpart. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This work is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as a part of the development of an autonomous helicopter. Some issues with regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.

引用

页码：271 / 280

页数：10

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