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Abstract
A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach.
Keywords
hybrid systems, switched linear control, LMI, autonomous aerial vehicles

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Citation

Please use this url to cite or link to this publication:

Chicago
Sutarto, Herman, Agus Budiyono, Endra Joelianto, and Go Tiauw Hiong. 2006. “Switched Linear Control of a Model Helicopter.” In 2009 9th International Conference on Control, Automation, Robotics and Vision, 1698–1705. New York, NY, USA: IEEE.
APA
Sutarto, H., Budiyono, A., Joelianto, E., & Hiong, G. T. (2006). Switched linear control of a model helicopter. 2009 9th International conference on control, automation, robotics and vision (pp. 1698–1705). Presented at the 9th International conference on Control, Automation, Robotics and Vision (ICARCV 2006), New York, NY, USA: IEEE.
Vancouver
1.
Sutarto H, Budiyono A, Joelianto E, Hiong GT. Switched linear control of a model helicopter. 2009 9th International conference on control, automation, robotics and vision. New York, NY, USA: IEEE; 2006. p. 1698–705.
MLA
Sutarto, Herman, Agus Budiyono, Endra Joelianto, et al. “Switched Linear Control of a Model Helicopter.” 2009 9th International Conference on Control, Automation, Robotics and Vision. New York, NY, USA: IEEE, 2006. 1698–1705. Print.
@inproceedings{1244145,
  abstract     = {A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach.},
  author       = {Sutarto, Herman and Budiyono, Agus  and Joelianto, Endra and Hiong, Go Tiauw},
  booktitle    = {2009 9th International conference on control, automation, robotics and vision},
  isbn         = {9781424403417},
  keyword      = {hybrid systems,switched linear control,LMI,autonomous aerial vehicles},
  language     = {eng},
  location     = {Singapore, Singapore},
  pages        = {1698--1705},
  publisher    = {IEEE},
  title        = {Switched linear control of a model helicopter},
  url          = {http://dx.doi.org/10.1109/ICARCV.2006.345254},
  year         = {2006},
}

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