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Periodic motion planning and nonlinear H-infinity tracking control of a 3-DOF underactuated helicopter
CICESE, Mexico .
Instituto Politecnico Nacional, Mexico .
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
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2011 (English)In: International Journal of Systems Science, ISSN 0020-7721, E-ISSN 1464-5319, Vol. 42, no 5, 829-838 p.Article in journal (Refereed) Published
Abstract [en]

Nonlinear H-infinity 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-infinity controller is derived by means of a certain perturbation of the differential Riccati equations that appear while solving the corresponding H-infinity 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.

Place, publisher, year, edition, pages
2011. Vol. 42, no 5, 829-838 p.
Keyword [en]
H-infinity control synthesis, 3-DOF underactuated helicopter, periodic motion
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Identifiers
URN: urn:nbn:se:umu:diva-40882DOI: 10.1080/00207721.2010.517874ISI: 000287649700013OAI: oai:DiVA.org:umu-40882DiVA: diva2:403355
Available from: 2011-03-12 Created: 2011-03-12 Last updated: 2017-12-11Bibliographically approved

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