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Open-Loop Reference Systems for Nonlinear Control Applied to Unmanned Helicopters

Lorenz, Sven (2012) Open-Loop Reference Systems for Nonlinear Control Applied to Unmanned Helicopters. Journal of Guidance, Control, and Dynamics, 35 (1), pp. 259-269. American Institute of Aeronautics and Astronautics (AIAA). DOI: 10.2514/1.52033

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Abstract

A novel way to design a nonlinear feedforward controller is presented. Contrary to input-output linearization and pseudo-control hedging techniques, the new formulation proposed is based on the states of the reference system instead of the plant’s states. By reshaping a commonly-used structure, the resulting scheme is used to produce a pure nonlinear feedforward system which is completely independent from system outputs. This permits the application of the presented control law when knowledge of the system states is not available. Due to the strict separation of plant and reference dynamics, stability of the reference system is no longer affected by the feedback of plant states. Results of flight tests of an unmanned helicopter, which are presented in this paper, demonstrate the applicability of this control concept.

Item URL in elib:https://elib.dlr.de/77133/
Document Type:Article
Title:Open-Loop Reference Systems for Nonlinear Control Applied to Unmanned Helicopters
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lorenz, SvenUNSPECIFIEDUNSPECIFIED
Date:2012
Journal or Publication Title:Journal of Guidance, Control, and Dynamics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:35
DOI :10.2514/1.52033
Page Range:pp. 259-269
Publisher:American Institute of Aeronautics and Astronautics (AIAA)
Status:Published
Keywords:nonlinear feedforward control design input-output linearization pseudocontrol-hedging unmanned helicopter
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Lorenz, Dr. Sven
Deposited On:22 Feb 2013 09:52
Last Modified:08 Mar 2018 18:44

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