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Abstract: A model helicopter is more difficult to control than its full scalecounterparts. This is due to its greater sensitivity to control inputs anddisturbances as well as higher bandwidth of dynamics. This works is focused ondesigning practical tracking controller for a small scale helicopter followingpredefined trajectories. A tracking controller based on optimal control theoryis synthesized as part of the development of an autonomous helicopter. Someissues in regards to control constraints are addressed. The weighting betweenstate tracking performance and control power expenditure is analyzed. Overallperformance of the control design is evaluated based on its time domainhistories of trajectories as well as control inputs.



Autor: Agus Budiyono, Singgih S. Wibowo

Fuente: https://arxiv.org/







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