Lyapunov Control Law for Automatic Approach for Unmanned Helicopter Landing
| Autor: | Seong Pil Kim, Jangho Lee, Youdan Kim, Dong-Ho Shin, Kie Jeong Seong, Hyoung Sik Choi |
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| Rok vydání: | 2011 |
| Předmět: |
Lyapunov function
Engineering business.industry Rotor (electric) Aerospace Engineering ComputerApplications_COMPUTERSINOTHERSYSTEMS Control engineering Aerodynamics Function (mathematics) Tracking (particle physics) Flight test law.invention Computer Science::Robotics symbols.namesake Nonlinear system Computer Science::Systems and Control Space and Planetary Science Control theory Law symbols Trajectory business |
| Zdroj: | TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES. 53:283-290 |
| ISSN: | 0549-3811 |
| DOI: | 10.2322/tjsass.53.283 |
| Popis: | Describing the flight behavior of a helicopter is a difficult challenge in mathematical modeling. A rotorcraft can be considered as a complex arrangement of interacting subsystems, and the problem is dominated by rotor. The rotor blades bend and twist under the influence of unsteady and nonlinear aerodynamic loads, which are themselves a function of blade motion. This problem makes it more difficult to estimate the behavior of a helicopter. Furthermore, it is difficult to design a flight controller for unmanned helicopter systems. In this paper, to obtain a nonlinear dynamic model of a helicopter, parameter identification is performed using flight test data. A globally stable tracking control law for agile and precise landing of an unmanned helicopter is proposed. A near-minimum time control scheme is adopted to design the reference trajectory, and it is shown that the control law is guaranteed to be stable globally in the sense of Lyapunov. A flight test verified the performance of the proposed method. Performance can be improved by choosing the control parameters via optimization. The proposed method can be extended to a multiple output trajectory tracking problem for a precise fixed-wing UAV landing. |
| Databáze: | OpenAIRE |
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