Abstract
This chapter deals with the tracking control problem of a three-degree-of-freedom (3-DOF) helicopter. The system dynamics are given by a mathematical model that considers the existence of a dead-zone phenomenon in the actuators, as well as a first-order dynamic that adds a lag in the system input. This leads to obtain an eighth-order model where the positions are the only available measurements of the system. The control problem is solved using nonlinear \( {\mathcal{H}}_{\infty } \) synthesis of time-varying systems, the dead-zone is compensated using its inverse model, and a reference model is used to deal with the first-order dynamic in the actuators. Numerical results show the effectiveness of the proposed method, which also considers external perturbations and parametric variations.
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Ponce, I.U., Flores-Abad, A., Nandayapa, M. (2018). Robust Control of a 3-DOF Helicopter with Input Dead-Zone. In: Vergara Villegas, O., Nandayapa , M., Soto , I. (eds) Advanced Topics on Computer Vision, Control and Robotics in Mechatronics. Springer, Cham. https://doi.org/10.1007/978-3-319-77770-2_10
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