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Exact linearization and noninteracting control of a 4 rotors helicopter via dynamic feedback

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3 Author(s)
Mistler, V. ; Lab. de Robotique de Paris, Velizy, France ; Benallegue, A. ; M'Sirdi, N.K.

Presents a nonlinear dynamic model for a four rotors helicopter in a form suited for control design. We show that the input-output decoupling problem is not solvable for this model by means of a static state feedback control law. Then, a dynamic feedback controller is developed which renders the closed-loop system linear, controllable and noninteractive after a change of coordinates in the state-space. Finally, the stability and the robustness of the proposed control law in the presence of wind, turbulences and parametric uncertainties is analyzed through a simulated case study

Published in:

Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on

Date of Conference:

2001