This paper proposes a tracking controller for a four rotors helicopter robot using dynamicfeedbacklinearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. input-output (I/O)...
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ISBN:
(纸本)9781479945306
This paper proposes a tracking controller for a four rotors helicopter robot using dynamicfeedbacklinearization based on piecewise bilinear (PB) models. The approximated model is fully parametric. input-output (I/O) dynamicfeedbacklinearization is applied to stabilize PB control system. Although the controller is simpler than the conventional I/O feedbacklinearization controller, the control performance based on PB model is the same as the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.
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