• DocumentCode
    702517
  • Title

    Control of a laboratory helicopter using feedback linearization

  • Author

    Lopez-Martinez, M. ; Rubio, F.R.

  • Author_Institution
    Escuela Superior de Ingenieros, Universidad de Sevilla Camino de los Descubrimientos s/n, 41092-Sevilla (Spain)
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    3430
  • Lastpage
    3435
  • Abstract
    In this paper a control structure based on feedback (Input-State) linearization has been applied to the elevation subsystem of a laboratory double rotor helicopter. This system is multivariable with 2 inputs and 4 outputs, highly nonlinear and strongly coupled. This article focuses on the elevation subsystem which, in turn, is underactuated with 1 input and 2 outputs. A switching control law between exact and approximate input-state linearization is proposed, which presents good result.
  • Keywords
    Angular velocity; Engines; Helicopters; Rotors; Switches; Torque; Double Rotor; Multivariable control; Non-linear control; Robust control; Under-actuated system;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7086571
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702517