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Output feedback control design using Extended High-Gain Observers and dynamic inversion with projection for a small scaled helicopter
Automatica ( IF 6.4 ) Pub Date : 2021-09-01 , DOI: 10.1016/j.automatica.2021.109883
Joonho Lee 1 , Joohwan Seo 2 , Jongeun Choi 3
Affiliation  

This paper presents the output feedback control design for a tracking problem of a small-scale helicopter in the presence of uncertainties. The dynamics of the helicopter is an underactuated mechanical system and the form of control inputs is nonaffine. A time-scale approach is suggested to cope with underactuated mechanical systems to overcome lack of the number of inputs. A newly developed dynamic inversion with projection is used to deal with nonaffine control inputs to increase the region of attraction as compared to linearized inputs, i.e., an affine control input form and to deal with actuator’s constraints and peaking in estimates from an Extended High-Gain Observer. The Extended High-Gain Observer is employed to quickly estimate model uncertainties and external disturbances. The singular perturbation method is used to analyze the stability of the closed-loop system in a multi-time scale structure. Based on the stability analysis, the design procedure for the proposed algorithm is presented for practical implementation. The effectiveness of the proposed control algorithm is shown via numerical simulations as well as experimental tests with a small-scale helicopter in an outdoor environment.



中文翻译:

使用扩展高增益观测器和带投影的动态反演的输出反馈控制设计用于小型直升机

本文介绍了存在不确定性的小型直升机跟踪问题的输出反馈控制设计。直升机的动力学是欠驱动的机械系统,控制输入的形式是非仿射的。建议采用时间尺度方法来应对欠驱动机械系统,以克服输入数量不足的问题。新开发的带有投影的动态反演用于处理非仿射控制输入,以增加与线性化输入相比的吸引区域,即仿射控制输入形式,并处理执行器的约束和扩展高增益估计中的峰值观察员。扩展高增益观测器用于快速估计模型的不确定性和外部干扰。奇异摄动法用于分析闭环系统在多时间尺度结构中的稳定性。在稳定性分析的基础上,提出了所提出算法的设计过程以供实际实现。所提出的控制算法的有效性通过数值模拟以及在室外环境中使用小型直升机进行的实验测试来证明。

更新日期:2021-09-02
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