Optimal Tracking Controller Design for a Small Scale Helicopter

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A model helicopter is more difficult to control than its full scale counterparts. This is due to its greater sensitivity to control inputs and disturbances as well as higher bandwidth of dynamics. This works is focused on designing practical tracking controller for a small scale helicopter following predefined trajectories. A tracking controller based on optimal control theory is synthesized as part of the development of an autonomous helicopter. Some issues in regards to control constraints are addressed. The weighting between state tracking performance and control power expenditure is analyzed. Overall performance of the control design is evaluated based on its time domain histories of trajectories as well as control inputs.
Uploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 9 pages, 12 figures, 3 tables, 1 appendix

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Robotics, C.3

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http://salesiana.dossiersoluciones.com/handle/123456789/159686

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/0804.3897
 http://arxiv.org/abs/0804.3897
 Proceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007, Paper No. ICIUS2007-A018-P

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