A Liouvillian systems approach for the trajectory planning-based control of helicopter models

摘要

A feedback regulation scheme, based on off-line trajectory planning and an approximate state linearization, is proposed for the hover-to-hover stabilization of simplified, underactuated, models of a helicopter system. The approach, based on the 'Liouvillian' character of the helicopter kinematic equations, advantageously uses the total, or partial, differential flatness property of the system models. The controller performance is evaluated through digital computer simulations which include initial state setting errors of significant magnitudes. Copyright (C) 2000 John Wiley & Sons, Ltd. [References: 19]