Nonlinear H helicopter hovering control and implementation using CSIA

Chien Chung Kung, Ciann-Dong Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper applies the nonlinear H control theory to helicopter hovering manuver whose complete six degree-of-freedom nonlinear equations of motion with coupled rotor and inflow dynamics are considered directly without linearization. Under this approach, the exact nonlinear equations governing both the longitudinal and lateral motions are considered. The control surface inverse algorithm (CSIA) developed in this paper to implement the nonlinear H control surface deflections is based on Moore-Penrose generalized inverse. The implement technique is constructed based on minimizing the global errors between the nonlinear H commands and actual control forces and moments. The separation principle of nonlinear H hovering control is verified by CSIA under actuator with saturation and rate limit.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2261-2266
Number of pages6
ISBN (Electronic)9783952417379
Publication statusPublished - 2003 Apr 13
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: 2003 Sep 12003 Sep 4

Publication series

NameEuropean Control Conference, ECC 2003

Other

Other2003 European Control Conference, ECC 2003
CountryUnited Kingdom
CityCambridge
Period03-09-0103-09-04

Fingerprint

Control surfaces
Helicopters
Nonlinear equations
Force control
Control theory
Linearization
Equations of motion
Actuators
Rotors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

Kung, C. C., & Yang, C-D. (2003). Nonlinear H helicopter hovering control and implementation using CSIA. In European Control Conference, ECC 2003 (pp. 2261-2266). [7085303] (European Control Conference, ECC 2003). Institute of Electrical and Electronics Engineers Inc..
Kung, Chien Chung ; Yang, Ciann-Dong. / Nonlinear H helicopter hovering control and implementation using CSIA. European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 2261-2266 (European Control Conference, ECC 2003).
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Kung, CC & Yang, C-D 2003, Nonlinear H helicopter hovering control and implementation using CSIA. in European Control Conference, ECC 2003., 7085303, European Control Conference, ECC 2003, Institute of Electrical and Electronics Engineers Inc., pp. 2261-2266, 2003 European Control Conference, ECC 2003, Cambridge, United Kingdom, 03-09-01.

Nonlinear H helicopter hovering control and implementation using CSIA. / Kung, Chien Chung; Yang, Ciann-Dong.

European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 2261-2266 7085303 (European Control Conference, ECC 2003).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kung CC, Yang C-D. Nonlinear H helicopter hovering control and implementation using CSIA. In European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 2261-2266. 7085303. (European Control Conference, ECC 2003).