ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST

Adnan Martini, François Léonard, Gabriel Abba

2007

Abstract

The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters.The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. Here, a nonlinear simple model with 3-DOF of a helicopter with unknown disturbances is used. Two approaches of robust control are compared via simulations: a nonlinear feedback and an active disturbance rejection control based on a nonlinear extended state observer(ADRC).

Paper Citation

in Harvard Style

Martini A., Léonard F. and Abba G. (2007). ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 333-340. DOI: 10.5220/0001644403330340

in Bibtex Style

@conference{icinco07,
author={Adnan Martini and François Léonard and Gabriel Abba},
title={ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={333-340},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644403330340},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST
SN - 978-972-8865-83-2
AU - Martini A.
AU - Léonard F.
AU - Abba G.
PY - 2007
SP - 333
EP - 340
DO - 10.5220/0001644403330340