@inproceedings{085e7adbffae41a6be4f7d1c186755b9,
title = "Nonlinear output feedback H∞-tracking control of a 3-DOF underactuated helicopter",
abstract = "Nonlinear H∞-control synthesis is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter prototype. Due to the nature of the approach, the proposed controller yields the desired robustness properties against unknown bounded external disturbances. Stabilizability and detectability properties of the control system are ensured by the existence of proper solutions of the corresponding differential Riccati equations. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Performance issues of the proposed controller are illustrated via numerical simulations.",
keywords = "3-DOF underactuated helicopter, Periodic orbit",
author = "Meza-S{\'a}nchez, {Iliana M.} and Aguilar, {Luis T.} and Anton Shiriaev and Leonid Freidovich and Yury Orlov",
note = "Funding Information: ⋆ This work is supported in part by Consejo Nacional de Ciencia y Tecnolog{\'i}a under Grant 78890 and 127575.",
year = "2011",
doi = "10.3182/20110828-6-IT-1002.03587",
language = "Ingl{\'e}s",
isbn = "9783902661937",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "1 PART 1",
pages = "11145--11150",
booktitle = "Proceedings of the 18th IFAC World Congress",
address = "Austria",
edition = "1 PART 1",
}