Optimal tracking controller design for a small scale helicopter

被引：0
|
作者：
Agus Budiyono
Singgih S. Wibowo
机构：
[1] Institut Teknologi Bandung,Department of Aeronautics and Astronautics
[2] Simundo Simulation Technology Company,undefined
来源：
Journal of Bionic Engineering | 2007年 / 4卷
关键词：
small scale helicopter; optimal control; tracking control; rotorcraft-based UAV;
D O I：
暂无
中图分类号：
学科分类号：
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
收藏
页码：271 / 280
页数：9
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