Three-time scale singular perturbation control and stability analysis for an autonomous helicopter on a platform

SUMMARYA three‐time scale singular perturbation control law is designed for a nonlinear helicopter model in vertical flight. The proposed control law is based on time scale decomposition and is able to achieve the desired altitude by selecting a desired angular velocity and the associated collective...

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Veröffentlicht in:International journal of robust and nonlinear control Jg. 23; H. 12; S. 1360 - 1392
Hauptverfasser: Esteban, S., Gordillo, F., Aracil, J.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bognor Regis Blackwell Publishing Ltd 01.08.2013
Wiley Subscription Services, Inc
Schlagworte:
asymptotic stability
helicopter control
Helicopters
Law
Mathematical models
mathematical upper bounds
nonlinear systems
Nonlinearity
Pitch angle
Reproduction
Singular perturbation
Stability analysis
ISSN:1049-8923, 1099-1239
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Zusammenfassung:SUMMARYA three‐time scale singular perturbation control law is designed for a nonlinear helicopter model in vertical flight. The proposed control law is based on time scale decomposition and is able to achieve the desired altitude by selecting a desired angular velocity and the associated collective pitch angle of the blades. The stability of the system is performed by presenting a stability analysis for generic three‐time scale singularly perturbed systems, which allows to construct a composite Lyapunov function for the resultant closed‐loop system by using time scale separation and also providing mathematical expressions for the upper bounds of the singularly perturbed parameters that define the three‐time scale. Numerical results on both, the singular perturbation control strategy and the stability analysis, are also presented for the studied nonlinear highly coupled helicopter model. Copyright © 2012 John Wiley & Sons, Ltd.
Bibliographie:istex:AB80DACCF96D2D035CC7CDBC9886506B0498A159
ArticleID:RNC2823
MICINN-FEDER - No. DPI2009-09961
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SourceType-Scholarly Journals-1
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.2823