Journal
CONTROL ENGINEERING PRACTICE
Volume 18, Issue 7, Pages 700-711Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2010.02.004
Keywords
Helicopter; Control; H-infinity; Identification; Model; Mixed sensitivity problem
Funding
- European Commission [FP6-2005-IST-5, FP6-IST-034120]
Ask authors/readers for more resources
In this paper the design process of robust H-infinity- control for a coaxial micro helicopter is presented. The process starts with the development of a nonlinear dynamic model reflecting all the important elements of the helicopter. The corresponding system parameters are identified using measurement data from test benches and real flight, as well as a nonlinear identification tool, the Covariance Matrix Adaptation Evolution Strategy (CMA-ES). The identified and verified model is then used for the design of H-infinity- controllers for attitude and heave control, which are successfully tested in flight on the real system. (c) 2010 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available