基于Lyapunov函数的二阶双继电器控制器轨道稳定性分析及其在三自由度欠驱动直升机上的应用

2014 International Conference on Mechatronics, Electronics and Automotive Engineering Pub Date : 2014-11-18 DOI:10.1109/ICMEAE.2014.9

L. Aguilar, Daniel Espinoza

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引用次数: 0

摘要

研究了三自由度欠驱动直升机的周期运动问题。为了诱导直升机的自激振动，提出了一种双继电器控制器。提出了一种基于Lyapunov函数的闭环系统轨道稳定性分析新框架。通过仿真验证了所提出的双继电器控制器在三自由度直升机驱动下诱导自振荡进入实验室的性能。

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Orbital Stability Analysis of Two-Relay Controller in Second Order Systems via Lyapunov Functions and Its Application to a 3-DOF Underactuated Helicopter

This paper deals with the solution of the periodic motion problem in a 3-DOF under actuated helicopter. A two-relay controller was proposed in order to induce self-oscillations in the helicopter. A new framework for orbital stability analysis based on Lyapunov functions was proposed for the closed-loop system. The performance of the proposed two-relay controller to induce self-oscillations into a laboratory under actuated 3-DOF helicopter was verified by simulations.

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2014 International Conference on Mechatronics, Electronics and Automotive Engineering

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