Hovering stability of a model helicopter
Küçük Resim Yok
Tarih
2016
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Emerald Group Publishing Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Purpose - The purpose of this paper is to investigate the stability of a small scale six-degree-of-freedom nonlinear helicopter model at translator velocities and angular displacements while it is transiting to hover with different initial conditions. Design/methodology/approach - In this study, model predictive controller and linear quadratic regulator are designed and compared within each other for the stabilization of the open loop unstable nonlinear helicopter model. Findings - This study shows that the helicopter is able to reach to the desired target with good robustness, low control effort and small steady-state error under disturbances such as parameter uncertainties, mistuned controller. Originality/value - The purpose of using model predictive control for three axes of the autopilot is to decrease the control effort and to make the close-loop system insensitive against modeling uncertainties.
Açıklama
Anahtar Kelimeler
Model predictive control, Autonomous vehicle, Helicopter control, Linear quadratic controller, Velocity control
Kaynak
Aircraft Engineering And Aerospace Technology
WoS Q Değeri
Q4
Scopus Q Değeri
N/A
Cilt
88
Sayı
6
