Nonlinear autopilot control design for a 2-DOF helicopter model

    Authors

    J. Kaloust; C. Ham;Z. Qu

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    Abbreviated Journal Title

    IEE Proc.-Control Theory Appl.

    Keywords

    nonlinear control; robust control; SYSTEMS; Automation & Control Systems; Engineering, Electrical & Electronic; Instruments & Instrumentation

    Abstract

    The paper illustrates a robust control scheme for application to helicopters in vertical flight mode (both take-off and landing) to guarantee altitude stabilisation. A nonlinear helicopter model is used to derive the proposed control in which Lyapunov's direct method is used to establish the overall system stability. A recursive design technique is applied to design a nonlinear robust controller using the highly coupled system structure. It will be shown that the proposed robust controller provides semiglobal stabilisation of uniform ultimate boundedness for achieving the desired altitude. That is, the control design is valid for all values of the helicopter's collective pitch angle away from zero. The vertical flight application demonstrates a unique robust control mechanisation for helicopter and V/STOL autopilot augmentation systems.

    Journal Title

    Iee Proceedings-Control Theory and Applications

    Volume

    144

    Issue/Number

    6

    Publication Date

    1-1-1997

    Document Type

    Article

    Language

    English

    First Page

    612

    Last Page

    616

    WOS Identifier

    WOS:000073872000015

    ISSN

    1350-2379

    Share

    COinS