Attitude observer-based robust control for a twin rotor system

Title:

Attitude observer-based robust control for a twin rotor system

Creator:

Salas, Oscar, Castañeda, Herman, and De Leon-Morales, Jesus

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:2e785979-cfae-4ea0-b560-d9b8cac31cad
uuid:2e785979-cfae-4ea0-b560-d9b8cac31cad

Subject:

robust adaptive control, extended state observer, and flight control

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

In this paper, an angular tracking control based on adaptive super twisting algorithm (ASTA) for a Twin Rotor System is presented. With the aim of implementing the ASTA control and taking into consideration the difficulties of measuring some of its states, a Nonlinear Extended State Observer (NESO) is employed to estimate the vector state and furthermore unmeasured dynamics. This scheme increases robustness against unmodeled dynamics and external disturbance, reducing modeling difficulties due to the fact that it is not necessary to know all the parameters of the system. Furthermore, an analysis of stability is provided, where sufficient conditions are given in order to guarantee the stability of the closed-loop system. Experimental results demonstrate the feasibility of the control scheme and illustrate its performance under external disturbance. and Na konci mezi autory uvedena podoba s diakritikou Jesús DeLeón-Morales

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Coverage:

[809]-828

Source:

Kybernetika | 2013 Volume:49 | Number:5

Harvested from:

CDK

Metadata only:

false