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Synchronised trajectory-tracking control of multiple 3-DOF experimental helicopters

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3 Author(s)
J. Shan ; Inst. for Aerosp. Studies, Univ. of Toronto, Ont., Canada ; H. -T. Liu ; S. Nowotny

A synchronised trajectory-tracking control strategy is proposed for multiple experimental three-degrees-of-freedom helicopters. The model-based controller includes a feedforward compensation term and a PD feedback control term. Asymptotic convergence is achieved for both trajectory tracking and motion synchronisation. A proposed generalised synchronisation error concept allows the design of different synchronisation strategies so that different synchronisation performance can be reached. Experimental results verify the effectiveness of the proposed controller.

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IEE Proceedings - Control Theory and Applications  (Volume:152 ,  Issue: 6 )