Conference Paper

Adaptive Altitude Control for a Small Helicopter in a Vertical Flying Stand

Div. de Estudios de Posgrado e Investigacion, Inst. Tecnologico de la Laguna, Mexico
DOI: 10.1109/CDC.2003.1273033 Conference: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on, Volume: 3
Source: IEEE Xplore

ABSTRACT

In this paper, we focus on the design and implementation of a controller for a two degree-of-freedom system. This system is composed of a small-scale helicopter which is mounted on a vertical platform. The model is based on Lagrangian formulation and the controller is obtained by classical pole-placement techniques for the yaw dynamics and adaptive pole-placement for the altitude dynamics. Experimental results show the performance of such a controller.

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Available from: Alejandro Dzul, Apr 17, 2015
    • "In [21] Liouvillian systems are adopted to guide a miniature helicopter with a simplified dynamic model (PVTOL) during a trajectory tracking mission. In [9] a robust controller based on classical and adaptive pole placement techniques is proposed to control the yaw angle and the altitude of a miniature helicopter, whose dynamic model was obtained using the Euler–Lagrange equation. In [15] a pose controller is proposed, based on the linearization of the PVTOL model, and a stability analysis is performed using the theory of Lyapunov for linear systems. "
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    ABSTRACT: This work proposes a nonlinear controller, based on the Theory of Lyapunov, to stabilize a quadrotor when accomplishing positioning and trajectory tracking tasks restricted to a vertical plane. The maneuvers here addressed are commonly accomplished by PVTOL (Planar Vertical Take-off and Landing) vehicles, due to the flight constraints: movement restricted to the Z axis or to the XZ/YZ planes. The contributions of the paper are the nonlinear controller itself, the proof of stability of the equilibrium of the closed-loop system, and the proposal of an analytical solution to saturate the control signals to prevent the saturation of the physical actuators. Experimental results are also presented, which validate the proposed controller.
    No preview · Article · Apr 2014 · European Journal of Control
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    • "With the assistance of an unknown input observer technique (UIO), the controller is reported to be able to handle the effect of these uncertainties on the autonomous helicopter. For altitude control, [7] uses adaptive control, while [8] uses neural network based control, to deal with both unmodeled dynamics and aerodynamic disturbance from environment. Even though the helicopter altitude control problem is successfully resolved in [9] -[11], but the effects of wind disturbances are not taken into account within the system model. "
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    ABSTRACT: In this paper, a nonlinear adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near ground surface in the presence of strong horizontal wind gusts. In general, the control of small scale helicopter is a difficult task, because the helicopter system is highly nonlinear, coupled and sensitive. For simplicity, only vertical flight motion is focused on here. This type of system has only two degrees of freedom, including helicopter altitude and collective pitch angle of blade. A vertical dynamics motion model of small-scale helicopter is considered to derive the proposed controller for the purposes of capturing dynamic variations of thrust due to the horizontal wind gusts and ground effect. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the adaptive controller based on Lyapunov approach. Simulation results demonstrate that the proposed adaptive backstepping controller is capable of controlling the altitude for hovering flight of a small-scale helicopter near ground surface in the presence of strong horizontal wind gusts.
    Full-text · Conference Paper · Jan 2013
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    • "With the assistance of an unknown input observer technique (UIO), the controller is reported to be able to handle the effect of these uncertainties on the autonomous helicopter. For altitude control, [7] uses adaptive control, while [8] uses neural network based control, to deal with both unmodeled dynamics and aerodynamic disturbance from the environment. Even though the helicopter altitude control problem is successfully resolved in [9] [11], but the effects of wind disturbances are not taken into account within the system model. "
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    ABSTRACT: In this paper, I focus on the design and implementation of a controller for a two degree-of-freedom system. A nonlinear robust adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near the ground surface in the presence of strong horizontal wind gusts. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the robust adaptive controller based on Lyapunov approach. Simulation results demonstrate that the proposed robust adaptive backstepping controller is capable of controlling the altitude for hovering flight of a small-scale helicopter near ground surface in the presence of strong horizontal wind gusts.
    Full-text · Article · Jan 2013 · Intelligent Control and Automation
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