Please use this identifier to cite or link to this item: https://doi.org/10.2514/1.31377
DC FieldValue
dc.titleStructured H∞ command and control-loop design for unmanned helicopters
dc.contributor.authorGadewadikar, J.
dc.contributor.authorLewis, F.L.
dc.contributor.authorSubbarao, K.
dc.contributor.authorChen, B.M.
dc.date.accessioned2014-10-07T04:37:16Z
dc.date.available2014-10-07T04:37:16Z
dc.date.issued2008-07
dc.identifier.citationGadewadikar, J., Lewis, F.L., Subbarao, K., Chen, B.M. (2008-07). Structured H∞ command and control-loop design for unmanned helicopters. Journal of Guidance, Control, and Dynamics 31 (4) : 1093-1102. ScholarBank@NUS Repository. https://doi.org/10.2514/1.31377
dc.identifier.issn07315090
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/83100
dc.description.abstractThe aim of this paper is to present rigorous and efficient methods for designing flight controllers for unmanned helicopters that have guaranteed performance, intuitive appeal for the flight control engineer, and prescribed multivariable loop structures. Helicopter dynamics do not decouple as they do for the fixed-wing aircraft case, and so the design of helicopter flight controllers with a desirable and intuitive structure is not straightforward. We use an H∞ output-feedback design procedure that is simplified in the sense that rigorous controller designs are obtained by solving only two coupled-matrix design equations. An efficient algorithm is given for solving these that does not require initial stabilizing gains. An output-feedback approach is given that allows one to selectively close prescribed multivariable feedback loops using a reduced set of the states at each step. At each step, shaping filters may be added that improve performance and yield guaranteed robustness and speed of response. The net result yields an H∞ design with a control structure that has been historically accepted in the flight control community. As an example, a design for stationkeeping and hover of an unmanned helicopter is presented. The result is a stationkeeping hover controller with robust performance in the presence of disturbances (including wind gusts), excellent decoupling, and good speed of response. Copyright © 2007 by Jyotirmay Gadewadikar. Published by the American Institute of Aeronautics and Astronautics, Inc.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.2514/1.31377
dc.sourceScopus
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.2514/1.31377
dc.description.sourcetitleJournal of Guidance, Control, and Dynamics
dc.description.volume31
dc.description.issue4
dc.description.page1093-1102
dc.description.codenJGCOD
dc.identifier.isiut000257556300027
Appears in Collections:Staff Publications

Show simple item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

100
checked on May 28, 2020

WEB OF SCIENCETM
Citations

74
checked on May 28, 2020

Page view(s)

48
checked on May 31, 2020

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.