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Tracking control of a twin-rotor helicopter model under thrust constrains using state-dependent gain-scheduling and reference management

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4 Author(s)
Wada, N. ; Dept. of Mech. Syst. Eng., Hiroshima Univ., Higashi-Hiroshima ; Minami, M. ; Matsuo, Y. ; Saeki, M.

In this paper, we design a control law for a twin-rotor helicopter model with considering actuator constraints. The controller is composed of a state-dependent gain-scheduled feedback control law and a reference management device. We show that the proposed control law achieves higher tracking performance as compared to the standard constant feedback control law through experimental results.

Published in:

Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on

Date of Conference:

5-8 Aug. 2008