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2004 | 14 | 4 | 469-475
Tytuł artykułu

Tracking control algorithms for a laboratory aerodynamical system

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated IO board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental characteristics, is used to design the controllers: a multidimensional PD, a suboptimal controller in the sense of a quadratic performance index and a variable gain controller.
Rocznik
Tom
14
Numer
4
Strony
469-475
Opis fizyczny
Daty
wydano
2004
otrzymano
2004-06-01
poprawiono
2004-09-01
Twórcy
  • Institute of Automatics, AGH Universityof Science and Technology, Al. Mickiewicza 30, 30-059 Cracow, Poland
  • Institute of Automatics, AGH Universityof Science and Technology, Al. Mickiewicza 30, 30-059 Cracow, Poland
Bibliografia
  • Avila-Vilchis J.C., Brogliato B., Dzul A. and Lozano R. (2003): Nonlinear modeling and control of helicopters. - Automatica, Vol. 39, No. 9, pp. 1583-1596.
  • Dudgeon G.J.W., Gribble J.J. and O'Reilly J. (1997): Individual channel analysis and helicopter flight control in moderate- and large-amplitude maneuvers. - Contr. Eng. Pract., Vol. 5, No. 1, pp. 33-38.
  • Gorczyca P., Hajduk K. and Kołek K. (1995): Data acquisition and control of nonlinear multidimensional system using Matlab. - Proc. 1st Nat. Conf. Matlab Users, Cracow, Poland, pp. 231-235, (in Polish).
  • Gorczyca P. and Turnau A. (1998): Multidimensional nonlinear MIMO system, In: Computer Aided Calculations (M. Szymkat, Ed.). - Cracow: CCATIE, pp. 37-60, (in Polish).
  • Horaček P. (2000): Laboratory experiments for control theory courses: A survey. - Ann. Rev. Contr., Vol. 24, No. 1, pp. 151-162.
  • Luo C.-C., Liu R.-F., Yang C.-D. and Chang Y.-H. (2003): Helicopter H_∞ control design with robust flying quality. - Aerospace Sci. Technol., Vol. 7, No. 2, pp. 159-169.
  • MathWorks Inc. (1994-2004): Real-Time Windows Target - User'sGuide. - Natick: The MathWorks Inc.
  • Murkherjee R. and Chen D. (1993): Control of free-flying underactuated space manipulators to equilibrum manifolds. - IEEE Trans. Automat. Contr., Vol. 9, No. 5, pp. 561-570.
  • Pauluk M. (2002): Robust control of 3D crane. - Proc. IEEE Int. Conf. Math. Methods in Automation and Robotics, Szczecin, Poland, pp. 355-360.
  • Padfield G.G. (1996): Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling. - Washington: AIAA.
  • Witkowski R. (1986): Construction and Pilotage of Choppers. Warsaw: WKiŁ, (in Polish).
Typ dokumentu
Bibliografia
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bwmeta1.element.bwnjournal-article-amcv14i4p469bwm
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