Authors:
Adnan Martini
;
François Léonard
and
Gabriel Abba
Affiliation:
Industrial Engineering and Mechanical Production Lab (LGIPM), ENIM, France
Keyword(s):
Helicopter, Nonlinear systems, Robust nonlinear control, Active disturbance rejection control, Observer.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robot Design, Development and Control
;
Robotics and Automation
;
Space and Underwater Robotics
;
Vehicle Control Applications
Abstract:
The helicopter manoeuvres naturally in an environment where the execution of the task can easily be affected by atmospheric turbulences, which lead to variations of its model parameters.The originality of this work relies on the nature of the disturbances acting on the helicopter and the way to compensate them. Here, a nonlinear simple model with 3-DOF of a helicopter with unknown disturbances is used. Two approaches of robust control are compared via simulations: a nonlinear feedback and an active disturbance rejection control based on a nonlinear extended state observer(ADRC).