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Performance recovery of nonlinear model helicopter using extended high gain observer
Wang Z(王争); He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Conference Name2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. ICIS 2009
Conference DateNovember 20-22, 2009
Conference PlaceShanghai, China
Author of SourceIEEE
Source Publication2009 IEEE International Conference on Intelligent Computing and Intelligent Systems. ICIS 2009
PublisherIEEE
Publication PlaceNew York
2009
Pages45-50
Indexed ByEI ; CPCI(ISTP)
EI Accession number20101212793499
WOS IDWOS:000284917600011
Contribution Rank1
ISBN978-1-4244-4754-1
AbstractNonlinear control methods are difficult to work on an unmanned helicopter system for its inherently unstable, high-order, and cross-coupled dynamic characters. In order to use experienced linear control methods on nonlinear helicopter system, in this paper, approximate feedback linearization method is used to linearize the nonlinear helicopter system by neglecting the coupling term. Then, we introduce an extended high gain observer to estimate the outputs and their derivatives for rejecting the coupled disturbance. Combining this observer and any linear control strategy the nonlinear helicopter system would be not only to achieve stabilization or regulation, but also to shape the transient response. The main contribution of this method, comparing with other exiting high gain disturbance rejection methods, is in proving transient performance recovery and not just asymptotic stabilization or regulation. Based on the method proposed in this paper, a nonlinear helicopter can be converted into an easily controllable linear system.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8827
Collection机器人学研究室
Corresponding AuthorWang Z(王争)
Affiliation1.Graduate School of Chinese Academy of Sciences, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
Recommended Citation
GB/T 7714
Wang Z,He YQ,Han JD. Performance recovery of nonlinear model helicopter using extended high gain observer[C]//IEEE. New York:IEEE,2009:45-50.
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