Nonlinear H helicopter hovering control and implementation using CSIA

Chien Chung Kung, Ciann Dong Yang

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題European Control Conference, ECC 2003
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2261-2266
頁數6
ISBN(電子)9783952417379
出版狀態Published - 2003 4月 13
事件2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
持續時間: 2003 9月 12003 9月 4

出版系列

名字European Control Conference, ECC 2003

Other

Other2003 European Control Conference, ECC 2003
國家/地區United Kingdom
城市Cambridge
期間03-09-0103-09-04

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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