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Decentralized Nonlinear Control of a Laboratory Model Helicopter

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2 Author(s)
Khosroushahi, R.B. ; Dept. of Electr. Eng., Sahand Univ. of Technol., Tabriz ; Khosrowjerdi, M.J.

In this paper, design, simulation and implementation of a decentralized nonlinear feedback linearization controller are addressed. The experimental results are presented, and the performance of the proposed controller is compared with a linear state feedback controller. It has been shown that the nonlinear controller has fairly better results in comparison with linear controller. Some practical tips which have been used to achieve better implementation results are discussed.

Published in:

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Date of Conference:

5-8 Dec. 2006

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