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Tracking Control Algorithms for a Laboratory Aerodynamical System

Treść / Zawartość
Identyfikatory
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated I/O board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental characteristics, is used to design the controllers: a multidimensional PD, a suboptimal controller in the sense of a quadratic performance index and a variable gain controller.
Rocznik
Strony
469--475
Opis fizyczny
Bibliogr. 11 poz., rys., tab., wykr.
Twórcy
autor
  • Institute of Automatics, AGH University of Science and Technology, Al. Mickiewicza 30, 30–059 Cracow, Poland, przemgor@ia.agh.edu.pl
autor
  • Institute of Automatics, AGH University of Science and Technology, Al. Mickiewicza 30, 30–059 Cracow, Poland, kha@ia.agh.edu.pl
Bibliografia
  • [1] Avila-Vilchis J.C., Brogliato B., Dzul A. and Lozano R. (2003): Nonlinear modeling and control of helicopters. — Automatica, Vol. 39, No. 9, pp. 1583–1596.
  • [2] Dudgeon G.J.W., Gribble J.J. and O’Reilly J. (1997): Individual channel analysis and helicopter flight control in moderate- and large-amplitude maneuvers.—Contr. Eng. Pract., Vol. 5, No. 1, pp. 33–38.
  • [3] Gorczyca P., Hajduk K. and Kołek K. (1995): Data acquisition and control of nonlinear multidimensional system using Matlab.—Proc. 1st Nat. Conf. Matlab Users, Cracow, Poland, pp. 231–235, (in Polish).
  • [4] Gorczyca P. and Turnau A. (1998): Multidimensional nonlinear MIMO system, In: Computer Aided Calculations (M. Szymkat, Ed.). — Cracow: CCATIE, pp. 37–60, (in Polish).
  • [5] Horáček P. (2000): Laboratory experiments for control theory courses: A survey. — Ann. Rev. Contr., Vol. 24, No. 1, pp. 151–162.
  • [6] Luo C.-C., Liu R.-F., Yang C.-D. and Chang Y.-H. (2003): Helicopter H1 control design with robust flying quality. — Aerospace Sci. Technol., Vol. 7, No. 2, pp. 159–169.
  • [7] MathWorks Inc. (1994–2004): Real-Time Windows Target – User’s Guide.—Natick : The MathWorks Inc.
  • [8] Murkherjee R. and Chen D. (1993): Control of free-flying underactuated space manipulators to equilibrum manifolds. — IEEE Trans. Automat. Contr., Vol. 9, No. 5, pp. 561–570.
  • [9] Pauluk M. (2002): Robust control of 3D crane. — Proc. IEEE Int. Conf. Math. Methods in Automation and Robotics, Szczecin, Poland, pp. 355–360.
  • [10] Padfield G.G. (1996): Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling.— Washington: AIAA.
  • [11] Witkowski R. (1986): Construction and Pilotage of Choppers. Warsaw: WKiŁ, (in Polish).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BPZ1-0008-0004
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