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Robust Flat Filtering Control of a Two Degrees of Freedom Helicopter Subject to Tail Rotor Disturbances
- Source :
- International Journal of Applied Mathematics and Computer Science, Vol 33, Iss 4, Pp 521-535 (2023)
- Publication Year :
- 2023
- Publisher :
- Sciendo, 2023.
-
Abstract
- This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.
Details
- Language :
- English
- ISSN :
- 20838492
- Volume :
- 33
- Issue :
- 4
- Database :
- Directory of Open Access Journals
- Journal :
- International Journal of Applied Mathematics and Computer Science
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.9394f2ad96e54865a474173dca50e0c7
- Document Type :
- article
- Full Text :
- https://doi.org/10.34768/amcs-2023-0038