Paper Info
Title
Periodic motion planning and nonlinear H∞ tracking control of a 3-DOF underactuated helicopter
Abstract
Nonlinear H∞ synthesis is developed to solve the tracking control problem into a 3-DOF helicopter prototype. Planning of periodic motions under a virtual constraints approach is considered prior the controller design in order to achieve our goal. A local H∞ controller is derived by means of a certain perturbation of the differential Riccati equations that appear while solving the corresponding H∞ control problem for the linearised system. Stabilisability and detectability properties of the control system are thus ensured by the existence of the proper solutions of the unperturbed differential Riccati equations, and hence the proposed synthesis procedure obviates an extra verification work of these properties. Due to the nature of the approach, the resulting controller additionally yields the desired robustness properties against unknown but bounded external disturbances. Convergence and robustness of the proposed design are supported by simulation results.
Year
DOI
Venue
2011
10.1080/00207721.2010.517874
International Journal of Systems Science
Keywords
Field
DocType
local H,control system,periodic motion planning,nonlinear H,Riccati equation,corresponding H,Nonlinear H,resulting controller,control problem,3-DOF underactuated helicopter,differential Riccati equation,tracking control problem,controller design
H-infinity methods in control theory,Convergence (routing),Periodic function,Control theory,Mathematical optimization,Nonlinear system,Control theory,Robustness (computer science),Control system,Underactuation,Mathematics
Journal
Volume
Issue
ISSN
42
5
0020-7721
Citations 
PageRank 
References 
10
0.61
8
Authors
5
Name
Order
Citations
PageRank
Iliana M. Meza-Sanchez1121.00
Luis T. Aguilar22209.09
anton s shiriaev3978.62
Leonid Freidovich4677.78
Yury Orlov552052.75