TY - JOUR
T1 - ROBUST FLAT FILTERING CONTROL OF A TWO DEGREES OF FREEDOM HELICOPTER SUBJECT TO TAIL ROTOR DISTURBANCES
AU - Sánchez-Meza, Victor Gabriel
AU - Lozano-Hernández, Yair
AU - Gutiérrez-Frías, Octavio
AU - Lozada-Castillo, Norma
AU - Luviano-Juárez, Alberto
N1 - Publisher Copyright:
© 2023 V.-G. Sánchez-Meza et al.
PY - 2023/12/1
Y1 - 2023/12/1
N2 - This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.
AB - This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.
KW - flat filtering control
KW - generalized proportional integral control
KW - non-linear systems
KW - tail rotor disturbance
KW - two degrees of freedom helicopter
UR - http://www.scopus.com/inward/record.url?scp=85180970113&partnerID=8YFLogxK
U2 - 10.34768/amcs-2023-0038
DO - 10.34768/amcs-2023-0038
M3 - Artículo
AN - SCOPUS:85180970113
SN - 1641-876X
VL - 33
SP - 521
EP - 535
JO - International Journal of Applied Mathematics and Computer Science
JF - International Journal of Applied Mathematics and Computer Science
IS - 4
ER -