Trajectory Tracking of a 2-DOF Helicopter System Using Canonical Normal Form

被引：1

作者：

Bououden, Soraya ^{[1
]}

Brahmi, Brahim ^{[2
]}

Rahman, Mohammad Habibur ^{[3
]}

机构：

[1] Ferhat Abas Setif 1 Univ, Fac Sci, Setif 19000, Algeria

[2] McGill Univ, Mech Engn Dept, Montreal, PQ, Canada

[3] Univ Wisconsin, Mech Engn Dept, Milwaukee, WI 53201 USA

来源：

2021 18TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD) | 2021年

关键词：

Flatness; Nonlinear systems; Normal Form; 2DOF; FLATNESS;

D O I：

10.1109/SSD52085.2021.9429360

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper deals with canonical normal form approach for trajectory tracking control of a two degree-of-freedom helicopter system. The main objective is to stabilize beam of the helicopter with respect to pitch and yaw angles. Sufficient geometrical conditions are given for a class of non-linear dynamical systems to transform the studied nonlinear systems into a triangular normal form and determine the flat outputs. Using this form two controllers are designed to control the position of the yaw and the pitch angles of the Helicopter. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

引用

页码：765 / 770

页数：6

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