Presentation
Longitudinal control for a laboratoty helicopter via constructive approximate backstepping
Author/s | López Martínez, Manuel
Rodríguez Rubio, Francisco |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2005 |
Deposit Date | 2021-01-21 |
Published in |
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ISBN/ISSN | 2405-8963 |
Abstract | This article presents a controller design based on Lyapunov functions, which can be applied to a class of underactuated systems that cannot be feedback linearized in a specific set point. Particularly, this design will be ... This article presents a controller design based on Lyapunov functions, which can be applied to a class of underactuated systems that cannot be feedback linearized in a specific set point. Particularly, this design will be applied in order to control the longitudinal dynamics of a laboratory helicopter. The longitudinal system is an electro-mechanical, non-linear and underactuated system. The proposed methodology consists of modifying the model of the system using an overparametrization in such a way that the backstepping theory can be applied to the approximate system. The methodology has been tested by simulated and experimental results and it has been proved for the closed-loop system that the origin is LES. |
Citation | López Martínez, M. y Rodríguez Rubio, F. (2005). Longitudinal control for a laboratoty helicopter via constructive approximate backstepping. En IFAC World Congress (289-294), Praga (República Checa): Elsevier. |
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