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  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.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A9C-8 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A9D-7
Genre: Conference Paper

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 Creators:
Picardi, G1, Author              
Geluardi, S1, 2, 3, Author              
Olivari, M1, 2, 3, 4, Author              
Bülthoff, HH1, 2, 3, Author              
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              

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 Abstract: 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.

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 Dates: 2016-05
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: PicardiGOB2016
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Title: 72nd American Helicopter Society International Annual Forum (AHS 2016)
Place of Event: West Palm Beach, FL, USA
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Title: Leveraging Emerging Technologies for Future Capabilities
Source Genre: Proceedings
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Publ. Info: Red Hook, NY, USA : Curran
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1770 - 1777 Identifier: ISBN: 978-1-5108-2506-2