Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances

• Autorzy: Sánchez-Meza Victor-Gabriel , Lozano-Hernández Yair , Gutiérrez-Frías Octavio , Lozada-Castillo Norma , Luviano-Juárez Alberto

Identyfikatory

DOI

10.34768/amcs-2023-0038

• Języki publikacji: EN

Abstrakty

EN

This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.

Słowa kluczowe

EN

flat filtering control; generalized proportional integral control; nonlinear system; tail rotor disturbance; two degrees of freedom helicopter

PL

sterowanie całkujące; układ nieliniowy; zakłócenia wirnika

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2023
• Tom: Vol. 33, no. 4
• Strony: 521--535
• Opis fizyczny: Bibliogr. 53 poz., rys., tab., wykr.

Twórcy

autor

Sánchez-Meza Victor-Gabriel

• Interdisciplinary Professional Unit of Engineering and Advanced Technologies (UPIITA), National Polytechnic Institute, Av. IPN 2580 Col. Barrio La Laguna Ticomán, CP 07340, Mexico City, Mexico

autor

Lozano-Hernández Yair

• Interdisciplinary Professional Unit of Engineering, Campus Hidalgo (UPIIH), National Polytechnic Institute, Carretera Pachuca-Actopan Kilómetro 1+500, San Agustín Tlaxiaca, 42162, Hidalgo, Mexico

autor

Gutiérrez-Frías Octavio

• Interdisciplinary Professional Unit of Engineering and Advanced Technologies (UPIITA), National Polytechnic Institute, Av. IPN 2580 Col. Barrio La Laguna Ticomán, CP 07340, Mexico City, Mexico

autor

Lozada-Castillo Norma

• Interdisciplinary Professional Unit of Engineering and Advanced Technologies (UPIITA), National Polytechnic Institute, Av. IPN 2580 Col. Barrio La Laguna Ticomán, CP 07340, Mexico City, Mexico

autor

Luviano-Juárez Alberto

• Interdisciplinary Professional Unit of Engineering and Advanced Technologies (UPIITA), National Polytechnic Institute, Av. IPN 2580 Col. Barrio La Laguna Ticomán, CP 07340, Mexico City, Mexico

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)