Global non-homogeneous Quasi-continuous controller for a 3-DOF helicopter

H. Ríos, A. Rosales, A. Dávila
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引用次数: 10

Abstract

This paper presents a practical design approach to the stabilization of a three degrees of freedom helicopter. In this paper the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. The non-homogeneous differentiator is also implemented to obtain exact differentiation in the control strategy. Simulations and the obtained results on a 3DOF helicopter by Quanser are shown.
三自由度直升机全局非齐次准连续控制器
本文提出了一种实用的三自由度直升机稳定设计方法。为了保持较高的位置调节精度和对模型不确定性和外部干扰的鲁棒性,本文提出了全局非齐次拟连续控制器。在控制策略中采用非齐次微分器以获得精确的微分器。最后给出了用Quanser软件对某型三自由度直升机的仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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