Attitude observer-based robust control for a twin rotor system

Oscar Salas; Herman Castañeda; Jesús De León-Morales

Kybernetika (2013)

  • Volume: 49, Issue: 5, page 809-828
  • ISSN: 0023-5954

Abstract

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In this paper, an angular tracking control based on adaptive super twisting algorithm (ASTA) for a Twin Rotor System is presented. With the aim of implementing the ASTA control and taking into consideration the difficulties of measuring some of its states, a Nonlinear Extended State Observer (NESO) is employed to estimate the vector state and furthermore unmeasured dynamics. This scheme increases robustness against unmodeled dynamics and external disturbance, reducing modeling difficulties due to the fact that it is not necessary to know all the parameters of the system. Furthermore, an analysis of stability is provided, where sufficient conditions are given in order to guarantee the stability of the closed-loop system. Experimental results demonstrate the feasibility of the control scheme and illustrate its performance under external disturbance.

How to cite

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Salas, Oscar, Castañeda, Herman, and De León-Morales, Jesús. "Attitude observer-based robust control for a twin rotor system." Kybernetika 49.5 (2013): 809-828. <http://eudml.org/doc/260739>.

@article{Salas2013,
abstract = {In this paper, an angular tracking control based on adaptive super twisting algorithm (ASTA) for a Twin Rotor System is presented. With the aim of implementing the ASTA control and taking into consideration the difficulties of measuring some of its states, a Nonlinear Extended State Observer (NESO) is employed to estimate the vector state and furthermore unmeasured dynamics. This scheme increases robustness against unmodeled dynamics and external disturbance, reducing modeling difficulties due to the fact that it is not necessary to know all the parameters of the system. Furthermore, an analysis of stability is provided, where sufficient conditions are given in order to guarantee the stability of the closed-loop system. Experimental results demonstrate the feasibility of the control scheme and illustrate its performance under external disturbance.},
author = {Salas, Oscar, Castañeda, Herman, De León-Morales, Jesús},
journal = {Kybernetika},
keywords = {robust adaptive control; extended state observer; flight control; robust adaptive control; extended state observer; flight control},
language = {eng},
number = {5},
pages = {809-828},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Attitude observer-based robust control for a twin rotor system},
url = {http://eudml.org/doc/260739},
volume = {49},
year = {2013},
}

TY - JOUR
AU - Salas, Oscar
AU - Castañeda, Herman
AU - De León-Morales, Jesús
TI - Attitude observer-based robust control for a twin rotor system
JO - Kybernetika
PY - 2013
PB - Institute of Information Theory and Automation AS CR
VL - 49
IS - 5
SP - 809
EP - 828
AB - In this paper, an angular tracking control based on adaptive super twisting algorithm (ASTA) for a Twin Rotor System is presented. With the aim of implementing the ASTA control and taking into consideration the difficulties of measuring some of its states, a Nonlinear Extended State Observer (NESO) is employed to estimate the vector state and furthermore unmeasured dynamics. This scheme increases robustness against unmodeled dynamics and external disturbance, reducing modeling difficulties due to the fact that it is not necessary to know all the parameters of the system. Furthermore, an analysis of stability is provided, where sufficient conditions are given in order to guarantee the stability of the closed-loop system. Experimental results demonstrate the feasibility of the control scheme and illustrate its performance under external disturbance.
LA - eng
KW - robust adaptive control; extended state observer; flight control; robust adaptive control; extended state observer; flight control
UR - http://eudml.org/doc/260739
ER -

References

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