By Manuel Béjar, Anibal Ollero, Federico Cuesta (auth.), Claudio Bonivento, Lorenzo Marconi, Carlo Rossi, Alberto Isidori (eds.)
This quantity is the result of the 1st CASY workshop on "Advances up to speed conception and purposes" which was once held at college of Bologna on may well 22-26, 2006. It contains chosen contributions by means of a number of the invited audio system and includes fresh ends up in control.
The quantity is meant for engineers, researchers, and scholars on top of things engineering.
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Extra resources for Advances in Control Theory and Applications
12. Altitude error vs. vertical velocity phase plane Clearly, from the point of view of model validation, testing a controller like this one on the real helicopter has several advantages. On the one hand, it makes it possible to compare the response of the real helicopter and the model in the face of non globally stable controllers. On the other hand, it makes it also possible to test the capabilities of the model to reﬂect the nonlinear behavior of the actual helicopter by comparing the predicted oscillations and the real ones.
There exists also a lack of research Modeling and Control of Autonomous Helicopters 27 concerning the determination of the wind regimes that can be aﬀorded by a helicopter with a given controller. To this end, nonlinear techniques such as the mentioned CS2 could be used to analyze and improve the performance. Lastly, noting that most of the presented works assume that all the state variables are measurable. Since this assumption is not always true in real implementations, it is necessary the consideration in the close loop of state estimation techniques as well as an analysis of their eﬀect on the performance of the overall control scheme.
La Civita M, Papageorgiou G, Messner W C, Kanade T (2002) Design and ﬂight testing of a high-bandwidth H∞ loop shaping controller for a robotic helicopter, In: Proceedings of the AIAA Guidance, Navigation, and Control Conference, number AIAA-2002-4836, Montery, CA 24. La Civita M, Papageorgiou G, Messner W C, Kanade T (2006) Design and ﬂight testing of a high-bandwidth H∞ loop shaping controller for a robotic helicopter, Journal of Guidance, Control, and Dynamics, 29(2):485–494 25. Gordon Leishman J (2000) Principles of Helicopter Aerodynamics, Cambridge University Press Modeling and Control of Autonomous Helicopters 29 26.