Research Article

A Liouvillian systems approach for the trajectory planning-based control of helicopter models

  1. Hebertt Sira-Ramírez1,*,
  2. Rafael Castro-Linares1,
  3. Eduardo Licéaga-Castro2

Article first published online: 9 MAR 2000

DOI: 10.1002/(SICI)1099-1239(20000415)10:4<301::AID-RNC474>3.0.CO;2-Q

Issue

International Journal of Robust and Nonlinear Control

International Journal of Robust and Nonlinear Control

Special Issue: CONTROL OF UNDERACTUATED NONLINEAR SYSTEMS

Volume 10, Issue 4, pages 301–320, 15 April 2000

Additional Information

How to Cite

Sira-Ramírez, H., Castro-Linares, R. and Licéaga-Castro, E. (2000), A Liouvillian systems approach for the trajectory planning-based control of helicopter models. Int. J. Robust Nonlinear Control, 10: 301–320. doi: 10.1002/(SICI)1099-1239(20000415)10:4<301::AID-RNC474>3.0.CO;2-Q

Author Information

  1. 1

    CINVESTAV-IPN, Departamento de Ingeniería Eléctrica, Apartado Postal 14-740, 07300 México, D.F., México

  2. 2

    Department of Mathematics, Glasgow Caledonian University, Glasgow G4 OBA, Scotland, U.K.

*CINVESTAV-IPN, Departamento de Ingeniería Eléctrica, Apartado Postal 14-740, 07300 México, D.F., México

Publication History

  1. Issue published online: 9 MAR 2000
  2. Article first published online: 9 MAR 2000

Funded by

  • Centro de Investigación y de Estudios Avanzados of the Instituto Politécnico Nacional (CINVESTAV-IPN) of México
  • Consejo Nacional de Ciencia y Tecnología (CONACYT) of México. Grant Number: 32681-A
  • Department of Mathematics of Glasgow Caledonian University, Glasgow, Scotland, U.K.

SEARCH

SEARCH BY CITATION

ARTICLE TOOLS

Get PDF (169K)

Keywords:

  • underactuated systems;
  • helicopter regulation;
  • Liouvillian systems;
  • trajectory planning

Abstract

A feedback regulation scheme, based on off-line trajectory planning and an approximate state linearization, is proposed for the hover-to-hover stabilization of simplified, underactuated, models of a helicopter system. The approach, based on the ‘Liouvillian’ character of the helicopter kinematic equations, advantageously uses the total, or partial, differential flatness property of the system models. The controller performance is evaluated through digital computer simulations which include initial state setting errors of significant magnitudes. Copyright © 2000 John Wiley & Sons, Ltd.

Get PDF (169K)