2段階線形化に基づくツインローターヘリコプターモデルの飛行制御系設計 : 機械力学,計測,自動制御
2001 年 67 巻 656 号 p. 1038-1045
詳細
2001 年 67 巻 656 号 p. 1038-1045
Twin rotor helicopter model has a similar dynamical property to that of VTOL aircraft. Our purpose is to find an appropriate design procedure, and to show that validity through experiments. First, two step linarization method is applied. Namely, the plant is partially linearized by applying static feedback linearization to the main and lower subsystems hierarchically, and PD controller is designed. Experiments show the good property of the control system except for disturbance rejection. Second, H∞ controller and feedforward controller are added to the linearized system in order to improve disturbance rejection and tracking.
