Tracking control algorithms for a laboratory aerodynamical system

Przemysław Gorczyca; Krystyn Hajduk

International Journal of Applied Mathematics and Computer Science (2004)

  • Volume: 14, Issue: 4, page 469-475
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Gorczyca, Przemysław, and Hajduk, Krystyn. "Tracking control algorithms for a laboratory aerodynamical system." International Journal of Applied Mathematics and Computer Science 14.4 (2004): 469-475. <http://eudml.org/doc/207712>.

@article{Gorczyca2004,
abstract = {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.},
author = {Gorczyca, Przemysław, Hajduk, Krystyn},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {real-time control; tracking control; suboptimal controller; nonlinear systems},
language = {eng},
number = {4},
pages = {469-475},
title = {Tracking control algorithms for a laboratory aerodynamical system},
url = {http://eudml.org/doc/207712},
volume = {14},
year = {2004},
}

TY - JOUR
AU - Gorczyca, Przemysław
AU - Hajduk, Krystyn
TI - Tracking control algorithms for a laboratory aerodynamical system
JO - International Journal of Applied Mathematics and Computer Science
PY - 2004
VL - 14
IS - 4
SP - 469
EP - 475
AB - 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.
LA - eng
KW - real-time control; tracking control; suboptimal controller; nonlinear systems
UR - http://eudml.org/doc/207712
ER -

References

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  4. Gorczyca P. and Turnau A. (1998): Multidimensional nonlinear MIMO system, In: Computer Aided Calculations (M. Szymkat, Ed.). - Cracow: CCATIE, pp. 37-60, (in Polish). 
  5. Horaček P. (2000): Laboratory experiments for control theory courses: A survey. - Ann. Rev. Contr., Vol. 24, No. 1, pp. 151-162. 
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  7. MathWorks Inc. (1994-2004): Real-Time Windows Target - User'sGuide. - Natick: The MathWorks Inc. 
  8. 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. 
  9. Pauluk M. (2002): Robust control of 3D crane. - Proc. IEEE Int. Conf. Math. Methods in Automation and Robotics, Szczecin, Poland, pp. 355-360. 
  10. Padfield G.G. (1996): Helicopter Flight Dynamics: The Theory and Application of Flying Qualities and Simulation Modeling. - Washington: AIAA. 
  11. Witkowski R. (1986): Construction and Pilotage of Choppers. Warsaw: WKiŁ, (in Polish). 

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