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A Liouvillian systems approach for the trajectory planning‐based control of helicopter models
Author(s) -
SiraRamírez Hebertt,
CastroLinares Rafael,
LicéagaCastro Eduardo
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(20000415)10:4<301::aid-rnc474>3.0.co;2-q
Subject(s) - control theory (sociology) , underactuation , trajectory , flatness (cosmology) , kinematics , linearization , controller (irrigation) , state (computer science) , computer science , control engineering , differential (mechanical device) , engineering , control (management) , nonlinear system , algorithm , artificial intelligence , aerospace engineering , physics , cosmology , classical mechanics , quantum mechanics , astronomy , agronomy , biology
A feedback regulation scheme, based on off‐line trajectory planning and an approximate state linearization, is proposed for the hover‐to‐hover stabilization of simplified, underactuated, models of a helicopter system. The approach, based on the ‘Liouvillian’ character of the helicopter kinematic equations, advantageously uses the total, or partial, differential flatness property of the system models. The controller performance is evaluated through digital computer simulations which include initial state setting errors of significant magnitudes. Copyright © 2000 John Wiley & Sons, Ltd.