Helicopter hovering attitude control using a direct feedthrough simultaneous state and disturbance observer

David Conal Robinson, Kris Ryan, Hoam Chung

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

5 Citations (Scopus)

Abstract

Helicopters are frequently required to operate in adverse conditions where they are likely to encounter unknown force disturbances due to aerodynamic effects, such as wind and ground effect. To maintain helicopter stability, these disturbances must be accurately estimated and compensated for. In this paper, a novel linear direct feedthrough simultaneous state and disturbance observer is postulated. A combination of state feedback and disturbance feedback control is then used to stabilise helicopter attitude, where the observer and controller gains are obtained using H∞ synthesis. Simulated results for a Yamaha R-50 helicopter demonstrate that a direct feedthrough simultaneous state and disturbance observer-based control system can accurately estimate helicopter states and unknown force disturbances and can stabilise helicopter attitude and velocity in the presence of unknown disturbances.
Original languageEnglish
Title of host publication2015 IEEE Conference on Control Applications (CCA)
EditorsReza Moheimani
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages633 - 638
Number of pages6
ISBN (Print)9781479977871
DOIs
Publication statusPublished - 2015
EventIEEE International Conference on Control Applications 2015 - Sydney, Australia
Duration: 21 Sept 201523 Sept 2015
https://ieeexplore.ieee.org/xpl/conhome/7302355/proceeding (Proceedings)

Conference

ConferenceIEEE International Conference on Control Applications 2015
Abbreviated titleCCA 2015
Country/TerritoryAustralia
CitySydney
Period21/09/1523/09/15
Internet address

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