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Authors: Adnan Martini ; François Léonard and Gabriel Abba

Affiliation: Industrial Engineering and Mechanical Production Lab (LGIPM), ENIM, France

ISBN: 978-972-8865-83-2

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).

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Paper citation in several formats:
Martini A.; Léonard F.; Abba G. and (2007). ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 333-340. DOI: 10.5220/0001644403330340

@conference{icinco07,
author={Adnan Martini and Fran\c{C}ois Léonard and Gabriel Abba},
title={ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={333-340},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001644403330340},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ROBUST AND ACTIVE TRAJECTORY TRACKING FOR AN AUTONOMOUS HELICOPTER UNDER WIND GUST
SN - 978-972-8865-83-2
AU - Martini, A.
AU - Léonard, F.
AU - Abba, G.
PY - 2007
SP - 333
EP - 340
DO - 10.5220/0001644403330340

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