Computation of the zero error manifold for a problem of smooth vertical landing of an helicopter

Author

Isidori, Alberto ; Marconi, Lorenzo ; Serrani, Andrea

Author_Institution

Dipt. di Inf. e Sist., Univ. of Rome, Rome, Italy

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

1512

Lastpage

1517

Abstract

In this paper, we consider the problem of computing the steady state solutions of a model of an helicopter, in the particular case in which the center of mass is subject to vertical oscillations. We present preliminary studies of a complete design of an internal model-based controller to achieve automatic smooth landing of helicopters on an oscillating platform. We model the reference signal as the output of an autonomous stable system (exosystem) and we derive the regulator equations for the problem in question. An approximated solution of the regulator equations, based on series expansion, is provided.

Keywords

aircraft control; control system synthesis; helicopters; position control; stability; autonomous stable system; helicopter; internal model-based controller design; regulator equation; series expansion; smooth vertical landing; vertical oscillation; zero error manifold; Equations; Helicopters; Mathematical model; Regulators; Rotors; Steady-state; Vectors; Aerospace Systems; Non-linear Oscillations; Output Regulation; Trajectory Tracking in Non-linear Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076133