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Switched linear control of a model helicopter

Herman Sutarto UGent, Agus Budiyono, Endra Joelianto and Go Tiauw Hiong (2006) 2009 9th International conference on control, automation, robotics and vision. p.1698-1705
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.
Please use this url to cite or link to this publication:
author
organization
year
type
conference
publication status
published
subject
keyword
hybrid systems, switched linear control, LMI, autonomous aerial vehicles
in
2009 9th International conference on control, automation, robotics and vision
pages
1698 - 1705
publisher
IEEE
place of publication
New York, NY, USA
conference name
9th International conference on Control, Automation, Robotics and Vision (ICARCV 2006)
conference location
Singapore, Singapore
conference start
2006-12-05
conference end
2006-12-08
Web of Science type
Proceedings Paper
Web of Science id
000246927403040
ISBN
9781424403417
DOI
10.1109/ICARCV.2006.345254
language
English
UGent publication?
no
classification
P1
copyright statement
I have transferred the copyright for this publication to the publisher
id
1244145
handle
http://hdl.handle.net/1854/LU-1244145
date created
2011-05-26 12:01:43
date last changed
2011-05-27 12:31:07
@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},
}

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.