Switched Linear Control of a Model Helicopter

Author

Sutarto, H.Y. ; Budiyono, Agus ; Joelianto, Endra ; Hiong, GO Tiauw

Author_Institution

Dept. of Aeronaut. & Aerosp. Eng., Inst. Teknologi Bandung

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

8

Abstract

A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach

Keywords

Lyapunov methods; control system synthesis; helicopters; linear matrix inequalities; linear systems; performance index; time-varying systems; vehicle dynamics; SIMULINK; STATEFLOW; control input sensitivity; controller synthesis; disturbance sensitivity; helicopter cruise; helicopter dynamics; helicopter hover; hybrid system; linear matrix inequalities; performance analysis; piecewise quadratic Lyapunov-like functions; plant dynamics; switched linear control; transition dynamics; Aerodynamics; Aerospace engineering; Control system synthesis; Equations; Helicopters; Linear matrix inequalities; Nonlinear dynamical systems; Performance analysis; Switched systems; Vehicle dynamics; Hybrid systems; LMI; autonomous aerial vehicles; switched linear control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345254

Filename

4150294