Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
 
 
DownloadE-Mail
 Lokale TagsFreigabegeschichteDetailsÜbersicht
  L1-based Model Following Control of an Identified Helicopter Model in Hover

Picardi, G., Geluardi, S., Olivari, M., & Bülthoff, H. (2016). L1-based Model Following Control of an Identified Helicopter Model in Hover. In Leveraging Emerging Technologies for Future Capabilities (pp. 1770-1777). Red Hook, NY, USA: Curran.

Item is

 

einblenden: alle ausblenden: alle

Basisdaten

einblenden: ausblenden:
Datensatz-Permalink: https://hdl.handle.net/21.11116/0000-0000-7A9C-8 Versions-Permalink: https://hdl.handle.net/21.11116/0000-0000-7A9D-7
Genre: Konferenzbeitrag

Externe Referenzen

einblenden:
ausblenden:
externe Referenz:
Link (beliebiger Volltext)
Beschreibung:
-
OA-Status:

Urheber

einblenden:
ausblenden:
 Urheber:
Picardi, G1, Autor           
Geluardi, S1, 2, 3, Autor           
Olivari, M1, 2, 3, 4, Autor           
Bülthoff, HH1, 2, 3, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
4Project group: Motion Perception & Simulation, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528705              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: The aim of this study is to augment the uncertain dynamics of the helicopter in order to resemble the dynamics of a new kind of vehicle, the so called Personal Aerial Vehicle. To achieve this goal a two step procedure is proposed. First, the helicopter model dynamics is augmented with a PID-based dynamic controller. Such controller implements a model following on the nominal helicopter model without uncertainties. Then, an L1 adaptive controller is designed to restore the nominal responses of the augmented helicopter when variations in the identified parameters are considered. The performance of the adaptive controller is evaluated via Montecarlo simulations. The results show that the application of the adaptive controller to the augmented helicopter dynamics can significantly reduce the effects of uncertainty due to the identification of the helicopter model. For implementation reasons the adaptive controller was applied to a subset of the outputs of the system. However, the under actuation typical of helicopters makes the tracking of the nominal responses good also on the not directly adapted outputs.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2016-05
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: BibTex Citekey: PicardiGOB2016
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: 72nd American Helicopter Society International Annual Forum (AHS 2016)
Veranstaltungsort: West Palm Beach, FL, USA
Start-/Enddatum: -

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: Leveraging Emerging Technologies for Future Capabilities
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Red Hook, NY, USA : Curran
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 1770 - 1777 Identifikator: ISBN: 978-1-5108-2506-2