<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (<italic>ψ</italic>), given by the <italic>z</italic> axis, is in free form, while the pitch angle (<italic>θ</italic>), which results from rotation about the <italic>y</italic> axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.</p>
</abstract>

This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.

Robust Flat Filtering Control of a Two Degrees of Freedom Helicopter Subject to Tail Rotor Disturbances

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four...

Robust Flat Filtering Control of a Two Degrees of Freedom Helicopter Subject to Tail Rotor Disturbances

Data publikacji: 21 gru 2023

Zakres stron: 521 - 535

Otrzymano: 02 paź 2022

Przyjęty: 22 maj 2023

DOI: https://doi.org/10.34768/amcs-2023-0038

Słowa kluczowe
flat filtering control, generalized proportional integral control, non-linear systems, tail rotor disturbance, two degrees of freedom helicopter

© 2023 Victor-Gabriel Sánchez-Meza et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Robust Flat Filtering Control of a Two Degrees of Freedom Helicopter Subject to Tail Rotor Disturbances

Data publikacji: 21 gru 2023

Zakres stron: 521 - 535

Otrzymano: 02 paź 2022

Przyjęty: 22 maj 2023

DOI: https://doi.org/10.34768/amcs-2023-0038

Słowa kluczoweflat filtering control, generalized proportional integral control, non-linear systems, tail rotor disturbance, two degrees of freedom helicopter

© 2023 Victor-Gabriel Sánchez-Meza et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Słowa kluczowe
flat filtering control, generalized proportional integral control, non-linear systems, tail rotor disturbance, two degrees of freedom helicopter