Nonlinear H∞ helicopter hovering control and implementation using CSIA

Chien Chung Kung; Ciann Dong Yang

Nonlinear H_∞ helicopter hovering control and implementation using CSIA

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	European Control Conference, ECC 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2261-2266
Number of pages	6
ISBN (Electronic)	9783952417379
Publication status	Published - 2003 Apr 13
Event	2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom Duration: 2003 Sept 1 → 2003 Sept 4

Publication series

Name	European Control Conference, ECC 2003

Other

Other	2003 European Control Conference, ECC 2003
Country/Territory	United Kingdom
City	Cambridge
Period	03-09-01 → 03-09-04

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Cite this

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title = "Nonlinear H∞ helicopter hovering control and implementation using CSIA",

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.",

author = "Kung, {Chien Chung} and Yang, {Ciann Dong}",

year = "2003",

month = apr,

day = "13",

language = "English",

series = "European Control Conference, ECC 2003",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2261--2266",

booktitle = "European Control Conference, ECC 2003",

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note = "2003 European Control Conference, ECC 2003 ; Conference date: 01-09-2003 Through 04-09-2003",

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TY - GEN

T1 - Nonlinear H∞ helicopter hovering control and implementation using CSIA

AU - Kung, Chien Chung

AU - Yang, Ciann Dong

PY - 2003/4/13

Y1 - 2003/4/13

N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:84949093088

T3 - European Control Conference, ECC 2003

SP - 2261

EP - 2266

BT - European Control Conference, ECC 2003

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2003 European Control Conference, ECC 2003

Y2 - 1 September 2003 through 4 September 2003

ER -